Z1 Hardware Interface

This package contains the hardware interface for the Unitree Z1 robot.

🚧⚠️ Warning ️⚠️🚧

The hardware interface is not yet finalised, thus it is not functional. Due to problem with the robot on our laboratory, we cannot guarantee the delivery of the final hardware interface.

Working principle

This package internally fetches 2 unitree libraries:

• z1_controller: this is used to directly communicate with the robot at a lower level;
• z1_sdk: provides a simplified interface to communicate with the robot and enables to send commands.

Currently, the hardare interface spawns two entities: a z1_controller to access the robot, and a z1_sdk component that directly interfaces with the robot.

As future work, we might envision to drop the dependency on z1_sdk if we can find a more effective way to set the control inputs to the robot via the APIs provided by z1_controller.