z1_sdk

Package for the Unitree Z1 SDK.

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. Install the z1_controller package (non-ROS setup).
2. Clone this repository:

   git clone git@github.com:ori-drs/z1_sdk.git

3. Build the executibles:

   cd z1_sdk/ && \
   rm -rf build && \
   mkdir build && \
   cd build && \
   cmake .. && make

You should now be able to start the arm controller and command the real arm with an example program using the SDK by doing the following:

1. Navigate to the z1_controller/build folder you created and run ./z1_ctrl.
2. Navigate to the z1_sdk/build folder you created and run ./lowcmd_development.

ROS Setup

1. Install the z1_controller package (ROS setup).
2. Clone this repository:

   git clone git@github.com:ori-drs/z1_sdk.git

3. Build the package:

   catkin build

You should now be able to start the arm controller and command the arm with an example program using the SDK by doing the following:

1. • Real arm: ROS_NAMESPACE=<your_arm_namespace> rosrun z1_controller z1_ctrl
   • Gazebo arm: ROS_NAMESPACE=<your_arm_namespace> rosrun z1_controller sim_ctrl
2. ROS_NAMESPACE=<your_arm_namespace> rosrun z1_sdk lowcmd_development

Documentation

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