Is there a function package for using ROS Moveit to control the real Z1 robot arm? If not, when will it be released?

Hello,

z1_sdk supports only amd64 architecture. (libZ1_SDK_Linux64.so)
I need support for arm64 architecture.
Thank you.

Hello! I have a go1 robot that comes with k1 robot arm, I noticed that this repo contains the sdk for the z1 robot arm. I would like to ask if this z1 sdk compatible with the k1 robot arm as well? Or is there another sdk that is more suitable? Please advise, thank you!

Dear Unitree,

During my work with Unitree Z1 manipulator, I have faced such a problem that switching from high level command mode to low level command mode leads to the unpredictable jerky movement behavior of the robot, which further leads to blowing the fuse on the motherboard. Could you please share your experience and justify the reasons why this happens and what could be done to prevent such behavior?

With kind regards,
Aleksandr

Hi all!

According to the specs of the robot, it is possible to control it at 1kHz.
However, I have been struggling to reach any control rate higher than 500Hz.

I have tested this by modifying the lowcmd_development.cpp example by changing the dt attribute and setting it to 1ms.

This change does not seem to have any effect as the function sendRecv seems to be blocking the code and have a hard-coded sleep time of 2ms, which prevents any control higher than 500Hz.

Is there any way to bypass this issue and obtain the advertised 1kHz control rate?