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z1_controller

Current version temporarily dedicated to ROS driver and communicates with SDK via UDP structs.

Parameters

  • udp/mcu_ip: The robot arm IP address
  • udp/port_to_mcu: The port specified when communicating with the robot arm, which needs to be changed when controlling multiple arms.
  • udp/port_to_sdk: The port specified when communicating with the SDK, which needs to be changed when controlling multiple arms
  • collision/open: Whether to start collision detection.
  • collision/limitT: Collision detection limited torque.
  • cmdCache: Whether to allow command caching If turned on, when z1_controller does not receive a message from the SDK in a single communication, it will execute shift_command to read commands from the cache (Specified by the user)

State

  • For the time being only examples of joint control and lowcmd control are available, other interfaces will follow.
  • The joint gain coefficients in lowcmd (25.6, 0.0128) thar were in z1_controller_V2 have been removed and are now standard joint gains.