z1_controller

Package for controlling the Unitree Z1 arm.

Installation

Note: read all documentation listed at the bottom of this page before attempting to install and use this package.

Non-ROS Setup (do not attempt if using ROS)

1. Clone these repositories:

   git clone --recurse-submodules [email protected]:ori-drs/unitree_ros.git
   git clone [email protected]:ori-drs/z1_controller.git

2. Build the executibles:

   cd z1_controller/ && \
   rm -rf build && \
   mkdir build && \
   cd build && \
   cmake .. && make

You should now be able to start the arm controller and command the real arm via keyboard by navigating to the z1_controller/build folder you created and running ./z1_ctrl k.

ROS Setup

1. Clone these repositories:

   git clone --recurse-submodules [email protected]:ori-drs/unitree_ros.git
   git clone [email protected]:ori-drs/z1_controller.git

2. Build the package:

   catkin build

You should now be able to start the arm controller and command the arm via keyboard using the following:

• Real arm: ROS_NAMESPACE=<your_arm_namespace> rosrun z1_controller z1_ctrl k
• Gazebo arm: ROS_NAMESPACE=<your_arm_namespace> rosrun z1_controller sim_ctrl k

Note: if using the Unitree SDK, omit the k argument (keyboard control) from the run command.

Documentation

• Original (official docs)
• ORI (corrections, updates and changes -- read this after the original docs)