From dda2235965d5d145210db6fe1d1fdd6bc0990797 Mon Sep 17 00:00:00 2001
From: siilats <keith@siilats.com>
Date: Mon, 24 Apr 2023 18:03:10 -0400
Subject: [PATCH 01/16] fix typo

---
 unitree_legged_control/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/unitree_legged_control/CMakeLists.txt b/unitree_legged_control/CMakeLists.txt
index 917bb913..5c27fd2b 100644
--- a/unitree_legged_control/CMakeLists.txt
+++ b/unitree_legged_control/CMakeLists.txt
@@ -23,7 +23,7 @@ catkin_package(
 
 include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
 
-link_directories($(catkin_LIB_DIRS) lib)
+link_directories(${catkin_LIB_DIRS} lib)
 
 add_library( unitree_legged_control 
     src/joint_controller.cpp

From e89261e80f3cde245e60ae8a1151d9e3d44c2862 Mon Sep 17 00:00:00 2001
From: siilats <keith@siilats.com>
Date: Mon, 24 Apr 2023 18:26:31 -0400
Subject: [PATCH 02/16] fix typo

---
 z1_controller/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/z1_controller/CMakeLists.txt b/z1_controller/CMakeLists.txt
index 875d1689..b8a375bb 100644
--- a/z1_controller/CMakeLists.txt
+++ b/z1_controller/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(z1_controller)
-
+#set(CMAKE_OSX_ARCHITECTURES "x86_64" CACHE INTERNAL "" FORCE)
 find_package(gazebo REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
     controller_manager

From e33696342feed2b5553dfe0f82182e706088b6ef Mon Sep 17 00:00:00 2001
From: siilats <keith@siilats.com>
Date: Mon, 24 Apr 2023 19:39:55 -0400
Subject: [PATCH 03/16] missing deps

---
 unitree_legged_control/CMakeLists.txt | 2 ++
 unitree_legged_control/package.xml    | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/unitree_legged_control/CMakeLists.txt b/unitree_legged_control/CMakeLists.txt
index 5c27fd2b..fa9e82f5 100644
--- a/unitree_legged_control/CMakeLists.txt
+++ b/unitree_legged_control/CMakeLists.txt
@@ -8,6 +8,7 @@ find_package(catkin REQUIRED COMPONENTS
     roscpp
     realtime_tools
     unitree_legged_msgs
+        urdf
 )
 
 catkin_package(
@@ -17,6 +18,7 @@ catkin_package(
     hardware_interface
     pluginlib
     roscpp
+        urdf
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME}
 )
diff --git a/unitree_legged_control/package.xml b/unitree_legged_control/package.xml
index 16358dc8..7650c210 100644
--- a/unitree_legged_control/package.xml
+++ b/unitree_legged_control/package.xml
@@ -10,6 +10,7 @@
     <build_depend>hardware_interface</build_depend>
     <build_depend>pluginlib</build_depend>
     <build_depend>roscpp</build_depend>
+    <build_depend>urdf</build_depend>
     <build_export_depend>controller_interface</build_export_depend>
     <build_export_depend>hardware_interface</build_export_depend>
     <build_export_depend>pluginlib</build_export_depend>
@@ -18,6 +19,7 @@
     <exec_depend>hardware_interface</exec_depend>
     <exec_depend>pluginlib</exec_depend>
     <exec_depend>roscpp</exec_depend>
+    <exec_depend>urdf</exec_depend>
     <depend>unitree_legged_msgs</depend>
     <!-- The export tag contains other, unspecified, tags -->
     <export>

From 6c30c2b93379f2db8aede2ddfdc3fbdd100d7bfb Mon Sep 17 00:00:00 2001
From: dmi3coder <dmi3coder@gmail.com>
Date: Sun, 7 May 2023 17:35:24 +0200
Subject: [PATCH 04/16] feat: splitted z1 world and spawn

---
 unitree_gazebo/launch/z1.launch       |  4 +-
 unitree_gazebo/launch/z1_empty.launch | 60 +++++++++++++++++++++++++++
 unitree_gazebo/launch/z1_spawn.launch | 24 +++++++++++
 3 files changed, 86 insertions(+), 2 deletions(-)
 create mode 100755 unitree_gazebo/launch/z1_empty.launch
 create mode 100755 unitree_gazebo/launch/z1_spawn.launch

diff --git a/unitree_gazebo/launch/z1.launch b/unitree_gazebo/launch/z1.launch
index 7d938d24..5a60e1bf 100755
--- a/unitree_gazebo/launch/z1.launch
+++ b/unitree_gazebo/launch/z1.launch
@@ -29,8 +29,8 @@
 
     <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
     <!-- Set trunk and joint positions at startup -->
-    <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
-          args="-urdf -z 0.0 -model $(arg rname)_gazebo -param robot_description -unpause"/>
+<!--     <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen" -->
+<!--           args="-urdf -z 0.0 -model $(arg rname)_gazebo -param robot_description -unpause"/> -->
 
     <!-- Load joint controller configurations from YAML file to parameter server -->
     <rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
diff --git a/unitree_gazebo/launch/z1_empty.launch b/unitree_gazebo/launch/z1_empty.launch
new file mode 100755
index 00000000..5a60e1bf
--- /dev/null
+++ b/unitree_gazebo/launch/z1_empty.launch
@@ -0,0 +1,60 @@
+<launch>
+    <arg name="wname" default="earth"/>
+    <arg name="rname" default="z1"/>
+    <arg name="robot_path" value="(find $(arg rname)_description)"/>
+    <arg name="dollar" value="$"/>
+
+    <arg name="paused" default="true"/>
+    <arg name="use_sim_time" default="true"/>
+    <arg name="gui" default="true"/>
+    <arg name="headless" default="false"/>
+    <arg name="debug" default="false"/>
+    <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
+    <arg name="user_debug" default="false"/>
+    <arg name="UnitreeGripperYN" default="true"/>
+    
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="paused" value="$(arg paused)"/>
+        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+        <arg name="headless" value="$(arg headless)"/>
+    </include>
+
+    <!-- Load the URDF into the ROS Parameter Server -->
+    <param name="robot_description"
+           command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro' 
+           UnitreeGripper:=$(arg UnitreeGripperYN)"/>
+
+    <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
+    <!-- Set trunk and joint positions at startup -->
+<!--     <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen" -->
+<!--           args="-urdf -z 0.0 -model $(arg rname)_gazebo -param robot_description -unpause"/> -->
+
+    <!-- Load joint controller configurations from YAML file to parameter server -->
+    <rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
+
+    <!-- load the controllers -->
+    <group unless="$(arg UnitreeGripperYN)">
+        <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
+            output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller 
+            Joint01_controller Joint02_controller Joint03_controller
+            Joint04_controller Joint05_controller Joint06_controller"/>
+    </group>
+
+    <group if="$(arg UnitreeGripperYN)">
+        <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
+            output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller 
+            Joint01_controller Joint02_controller Joint03_controller 
+            Joint04_controller Joint05_controller Joint06_controller 
+            gripper_controller"/>
+    </group>
+
+    <!-- convert joint states to TF transforms for rviz, etc -->
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
+          respawn="false" output="screen">
+        <remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
+    </node>
+
+</launch>
diff --git a/unitree_gazebo/launch/z1_spawn.launch b/unitree_gazebo/launch/z1_spawn.launch
new file mode 100755
index 00000000..062ab750
--- /dev/null
+++ b/unitree_gazebo/launch/z1_spawn.launch
@@ -0,0 +1,24 @@
+<launch>
+    <arg name="wname" default="earth"/>
+    <arg name="rname" default="z1"/>
+    <arg name="robot_path" value="(find $(arg rname)_description)"/>
+    <arg name="dollar" value="$"/>
+
+    <arg name="paused" default="true"/>
+    <arg name="use_sim_time" default="true"/>
+    <arg name="gui" default="true"/>
+    <arg name="headless" default="false"/>
+    <arg name="debug" default="false"/>
+    <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
+    <arg name="user_debug" default="false"/>
+    <arg name="UnitreeGripperYN" default="true"/>
+
+    <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
+    <!-- Set trunk and joint positions at startup -->
+    <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
+          args="-urdf -z 0.0 -model $(arg rname)_gazebo -param robot_description -unpause"/>
+
+    <!-- Load joint controller configurations from YAML file to parameter server -->
+
+
+</launch>

From 003e124d2786b7fa41737d2e0bc37319dbb55b99 Mon Sep 17 00:00:00 2001
From: dmi3coder <dmi3coder@gmail.com>
Date: Sun, 7 May 2023 18:34:34 +0200
Subject: [PATCH 05/16] feat: working splitted z1 world

---
 unitree_gazebo/launch/z1.launch       |  4 ++--
 unitree_gazebo/launch/z1_empty.launch | 24 ------------------------
 unitree_gazebo/launch/z1_spawn.launch | 27 +++++++++++++++++++++++++++
 3 files changed, 29 insertions(+), 26 deletions(-)

diff --git a/unitree_gazebo/launch/z1.launch b/unitree_gazebo/launch/z1.launch
index 5a60e1bf..7d938d24 100755
--- a/unitree_gazebo/launch/z1.launch
+++ b/unitree_gazebo/launch/z1.launch
@@ -29,8 +29,8 @@
 
     <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
     <!-- Set trunk and joint positions at startup -->
-<!--     <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen" -->
-<!--           args="-urdf -z 0.0 -model $(arg rname)_gazebo -param robot_description -unpause"/> -->
+    <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
+          args="-urdf -z 0.0 -model $(arg rname)_gazebo -param robot_description -unpause"/>
 
     <!-- Load joint controller configurations from YAML file to parameter server -->
     <rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
diff --git a/unitree_gazebo/launch/z1_empty.launch b/unitree_gazebo/launch/z1_empty.launch
index 5a60e1bf..51cf9604 100755
--- a/unitree_gazebo/launch/z1_empty.launch
+++ b/unitree_gazebo/launch/z1_empty.launch
@@ -32,29 +32,5 @@
 <!--     <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen" -->
 <!--           args="-urdf -z 0.0 -model $(arg rname)_gazebo -param robot_description -unpause"/> -->
 
-    <!-- Load joint controller configurations from YAML file to parameter server -->
-    <rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
-
-    <!-- load the controllers -->
-    <group unless="$(arg UnitreeGripperYN)">
-        <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
-            output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller 
-            Joint01_controller Joint02_controller Joint03_controller
-            Joint04_controller Joint05_controller Joint06_controller"/>
-    </group>
-
-    <group if="$(arg UnitreeGripperYN)">
-        <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
-            output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller 
-            Joint01_controller Joint02_controller Joint03_controller 
-            Joint04_controller Joint05_controller Joint06_controller 
-            gripper_controller"/>
-    </group>
-
-    <!-- convert joint states to TF transforms for rviz, etc -->
-    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
-          respawn="false" output="screen">
-        <remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
-    </node>
 
 </launch>
diff --git a/unitree_gazebo/launch/z1_spawn.launch b/unitree_gazebo/launch/z1_spawn.launch
index 062ab750..d5f96285 100755
--- a/unitree_gazebo/launch/z1_spawn.launch
+++ b/unitree_gazebo/launch/z1_spawn.launch
@@ -13,6 +13,10 @@
     <arg name="user_debug" default="false"/>
     <arg name="UnitreeGripperYN" default="true"/>
 
+    <param name="robot_description"
+           command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro'
+           UnitreeGripper:=$(arg UnitreeGripperYN)"/>
+
     <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
     <!-- Set trunk and joint positions at startup -->
     <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
@@ -20,5 +24,28 @@
 
     <!-- Load joint controller configurations from YAML file to parameter server -->
 
+    <rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>
+
+    <!-- load the controllers -->
+    <group unless="$(arg UnitreeGripperYN)">
+        <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
+            output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
+            Joint01_controller Joint02_controller Joint03_controller
+            Joint04_controller Joint05_controller Joint06_controller"/>
+    </group>
+
+    <group if="$(arg UnitreeGripperYN)">
+        <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
+            output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller
+            Joint01_controller Joint02_controller Joint03_controller
+            Joint04_controller Joint05_controller Joint06_controller
+            gripper_controller"/>
+    </group>
+
+    <!-- convert joint states to TF transforms for rviz, etc -->
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
+          respawn="false" output="screen">
+        <remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
+    </node>
 
 </launch>

From cd4d73fec568447f9544d3ec07645cfcb1e81a8f Mon Sep 17 00:00:00 2001
From: keith siilats <keith@siilats.com>
Date: Tue, 30 May 2023 15:26:27 -0400
Subject: [PATCH 06/16] Update CMakeLists.txt

---
 unitree_controller/CMakeLists.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/unitree_controller/CMakeLists.txt b/unitree_controller/CMakeLists.txt
index 88a30cc4..988e53d9 100644
--- a/unitree_controller/CMakeLists.txt
+++ b/unitree_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0)
 project(unitree_controller)
 
 find_package(catkin REQUIRED COMPONENTS
@@ -55,4 +55,4 @@ add_executable(unitree_servo src/servo.cpp)
 target_link_libraries(unitree_servo ${PROJECT_NAME} ${catkin_LIBRARIES})
 
 add_executable(unitree_move_kinetic src/move_publisher.cpp)
-target_link_libraries(unitree_move_kinetic ${catkin_LIBRARIES})
\ No newline at end of file
+target_link_libraries(unitree_move_kinetic ${catkin_LIBRARIES})

From 88a3b7cead28a4d23513dc92fab30c22e1094fe4 Mon Sep 17 00:00:00 2001
From: keith siilats <keith@siilats.com>
Date: Tue, 30 May 2023 15:28:41 -0400
Subject: [PATCH 07/16] Update CMakeLists.txt

---
 unitree_controller/CMakeLists.txt | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/unitree_controller/CMakeLists.txt b/unitree_controller/CMakeLists.txt
index 988e53d9..055d9be0 100644
--- a/unitree_controller/CMakeLists.txt
+++ b/unitree_controller/CMakeLists.txt
@@ -29,6 +29,8 @@ include_directories(
 )
 
 link_directories(${GAZEBO_LIBRARY_DIRS})
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
+
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
 # Declare a C++ library

From ed23ad133b4ef2c4d4062e2d05e9d61a6212de39 Mon Sep 17 00:00:00 2001
From: keith siilats <keith@siilats.com>
Date: Tue, 30 May 2023 15:30:15 -0400
Subject: [PATCH 08/16] Update CMakeLists.txt

---
 z1_controller/CMakeLists.txt | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/z1_controller/CMakeLists.txt b/z1_controller/CMakeLists.txt
index b8a375bb..1d0e392a 100644
--- a/z1_controller/CMakeLists.txt
+++ b/z1_controller/CMakeLists.txt
@@ -26,6 +26,8 @@ include_directories(
 )
 
 link_directories(${GAZEBO_LIBRARY_DIRS})
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
+
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
 add_library(${PROJECT_NAME}
@@ -39,4 +41,4 @@ target_link_libraries(${PROJECT_NAME}
 )
 
 add_executable(unitree_move_z1 src/basic.cpp)
-target_link_libraries(unitree_move_z1 ${PROJECT_NAME} ${catkin_LIBRARIES})
\ No newline at end of file
+target_link_libraries(unitree_move_z1 ${PROJECT_NAME} ${catkin_LIBRARIES})

From aaeefc18e733fbd2bcd58775b87be350bfb2c6ed Mon Sep 17 00:00:00 2001
From: keith siilats <keith@siilats.com>
Date: Tue, 30 May 2023 15:34:39 -0400
Subject: [PATCH 09/16] Update CMakeLists.txt

---
 unitree_legged_control/CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/unitree_legged_control/CMakeLists.txt b/unitree_legged_control/CMakeLists.txt
index fa9e82f5..2d0e7a9c 100644
--- a/unitree_legged_control/CMakeLists.txt
+++ b/unitree_legged_control/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.1)
 project(unitree_legged_control)
 
 find_package(catkin REQUIRED COMPONENTS
@@ -22,6 +22,7 @@ catkin_package(
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME}
 )
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
 
 include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
 

From b8deeeec7999ec30bae68476f31610fcef6bf190 Mon Sep 17 00:00:00 2001
From: keith siilats <keith@siilats.com>
Date: Tue, 30 May 2023 15:38:00 -0400
Subject: [PATCH 10/16] Update CMakeLists.txt

---
 unitree_legged_control/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/unitree_legged_control/CMakeLists.txt b/unitree_legged_control/CMakeLists.txt
index 2d0e7a9c..eeaa2dc5 100644
--- a/unitree_legged_control/CMakeLists.txt
+++ b/unitree_legged_control/CMakeLists.txt
@@ -32,4 +32,4 @@ add_library( unitree_legged_control
     src/joint_controller.cpp
 )
 add_dependencies(${PROJECT_NAME} unitree_legged_msgs_gencpp)
-target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool)
+target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool_arm64)

From 8a1938847cc9e11c790b3ed08cb90177207a2806 Mon Sep 17 00:00:00 2001
From: keith siilats <keith@siilats.com>
Date: Tue, 30 May 2023 15:46:07 -0400
Subject: [PATCH 11/16] Update CMakeLists.txt

---
 unitree_legged_control/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/unitree_legged_control/CMakeLists.txt b/unitree_legged_control/CMakeLists.txt
index eeaa2dc5..cfbf4f92 100644
--- a/unitree_legged_control/CMakeLists.txt
+++ b/unitree_legged_control/CMakeLists.txt
@@ -33,3 +33,4 @@ add_library( unitree_legged_control
 )
 add_dependencies(${PROJECT_NAME} unitree_legged_msgs_gencpp)
 target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool_arm64)
+target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool)

From ed7c8ba2c981f2430eefb3ab675e9942d2ee376b Mon Sep 17 00:00:00 2001
From: keith siilats <keith@siilats.com>
Date: Tue, 30 May 2023 15:50:49 -0400
Subject: [PATCH 12/16] Update CMakeLists.txt

---
 unitree_legged_control/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/unitree_legged_control/CMakeLists.txt b/unitree_legged_control/CMakeLists.txt
index cfbf4f92..febbdb7c 100644
--- a/unitree_legged_control/CMakeLists.txt
+++ b/unitree_legged_control/CMakeLists.txt
@@ -32,5 +32,5 @@ add_library( unitree_legged_control
     src/joint_controller.cpp
 )
 add_dependencies(${PROJECT_NAME} unitree_legged_msgs_gencpp)
-target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool_arm64)
+# target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool_arm64)
 target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool)

From 2b2a8b47228919ccae501a889a0791c5ee98788f Mon Sep 17 00:00:00 2001
From: keith siilats <keith@siilats.com>
Date: Wed, 31 May 2023 15:44:50 -0400
Subject: [PATCH 13/16] Update CMakeLists.txt

---
 unitree_legged_control/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/unitree_legged_control/CMakeLists.txt b/unitree_legged_control/CMakeLists.txt
index febbdb7c..477f2cfb 100644
--- a/unitree_legged_control/CMakeLists.txt
+++ b/unitree_legged_control/CMakeLists.txt
@@ -33,4 +33,4 @@ add_library( unitree_legged_control
 )
 add_dependencies(${PROJECT_NAME} unitree_legged_msgs_gencpp)
 # target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool_arm64)
-target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool)
+target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool_${CMAKE_HOST_SYSTEM_PROCESSOR})

From 8e3443501372dea1c1adc4f5b6fdcd9e5c799197 Mon Sep 17 00:00:00 2001
From: keith siilats <keith@siilats.com>
Date: Wed, 31 May 2023 15:46:27 -0400
Subject: [PATCH 14/16] Add files via upload

---
 .../lib/libunitree_joint_control_tool_x86_64.so | Bin 0 -> 17440 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 unitree_legged_control/lib/libunitree_joint_control_tool_x86_64.so

diff --git a/unitree_legged_control/lib/libunitree_joint_control_tool_x86_64.so b/unitree_legged_control/lib/libunitree_joint_control_tool_x86_64.so
new file mode 100644
index 0000000000000000000000000000000000000000..26d67a209e20b9878677b7bd5f89bf97b037d541
GIT binary patch
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From 4d3dcd2b77a4c499428fc7d11cf45e5c1c338053 Mon Sep 17 00:00:00 2001
From: keith siilats <keith@siilats.com>
Date: Wed, 31 May 2023 15:47:35 -0400
Subject: [PATCH 15/16] Add files via upload

---
 .../libunitree_joint_control_tool_aarch64.so    | Bin 0 -> 21232 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 unitree_legged_control/lib/libunitree_joint_control_tool_aarch64.so

diff --git a/unitree_legged_control/lib/libunitree_joint_control_tool_aarch64.so b/unitree_legged_control/lib/libunitree_joint_control_tool_aarch64.so
new file mode 100644
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GIT binary patch
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From 4b100ef25865ebac44f843ebde568e40aae17e0d Mon Sep 17 00:00:00 2001
From: keith siilats <keith@siilats.com>
Date: Mon, 26 Jun 2023 14:29:43 -0400
Subject: [PATCH 16/16] Add files via upload

---
 robots/z1_description/xacro/z1_v2.urdf | 346 +++++++++++++++++++++++++
 1 file changed, 346 insertions(+)
 create mode 100644 robots/z1_description/xacro/z1_v2.urdf

diff --git a/robots/z1_description/xacro/z1_v2.urdf b/robots/z1_description/xacro/z1_v2.urdf
new file mode 100644
index 00000000..09846008
--- /dev/null
+++ b/robots/z1_description/xacro/z1_v2.urdf
@@ -0,0 +1,346 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from src/unitree_ros/robots/z1_description/xacro/robot.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="z1_description">
+  <!-- ros_control plugin -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <robotNamespace>/z1_gazebo</robotNamespace>
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+    </plugin>
+  </gazebo>
+  <gazebo reference="link04">
+    <self_collide>true</self_collide>
+  </gazebo>
+  <gazebo reference="link05">
+    <self_collide>true</self_collide>
+  </gazebo>
+  <gazebo reference="link06">
+    <self_collide>true</self_collide>
+  </gazebo>
+  <link name="world"/>
+  <joint name="base_static_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="world"/>
+    <child link="link00"/>
+  </joint>
+  <link name="link00">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/visual/z1_Link00.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.051" radius="0.0325"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0255"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00334984 -0.00013615 0.02495843"/>
+      <mass value="0.47247481"/>
+      <inertia ixx="0.00037937" ixy="3.5e-07" ixz="1.037e-05" iyy="0.00041521" iyz="9.9e-07" izz="0.00053066"/>
+    </inertial>
+  </link>
+  <joint name="joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.0585"/>
+    <parent link="link00"/>
+    <child link="link01"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <limit effort="30.0" lower="-2.6179938779914944" upper="2.6179938779914944" velocity="10"/>
+  </joint>
+  <link name="link01">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/visual/z1_Link01.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <!-- <collision>
+            <geometry>
+                <cylinder length="${2*motor_height}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        </collision> -->
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.47e-06 -0.00025198 0.02317169"/>
+      <mass value="0.67332551"/>
+      <inertia ixx="0.00128328" ixy="6e-08" ixz="4e-07" iyy="0.00071931" iyz="-5e-07" izz="0.00083936"/>
+    </inertial>
+  </link>
+  <joint name="joint2" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <parent link="link01"/>
+    <child link="link02"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="2.0" friction="2.0"/>
+    <limit effort="60.0" lower="0.0" upper="3.141592653589793" velocity="10"/>
+  </joint>
+  <link name="link02">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/visual/z1_Link02.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.102" radius="0.0325"/>
+      </geometry>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+    </collision>
+    <collision>
+      <geometry>
+        <cylinder length="0.235" radius="0.0225"/>
+      </geometry>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.16249999999999998 0 0"/>
+    </collision>
+    <collision>
+      <geometry>
+        <cylinder length="0.051" radius="0.0325"/>
+      </geometry>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.35 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.11012601 0.00240029 0.00158266"/>
+      <mass value="1.19132258"/>
+      <inertia ixx="0.00102138" ixy="-0.00062358" ixz="-5.13e-06" iyy="0.02429457" iyz="2.1e-06" izz="0.02466114"/>
+    </inertial>
+  </link>
+  <joint name="joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.35 0 0"/>
+    <parent link="link02"/>
+    <child link="link03"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <limit effort="30.0" lower="-4.782202150464463" upper="0.0" velocity="10"/>
+  </joint>
+  <link name="link03">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/visual/z1_Link03.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.116" radius="0.02"/>
+      </geometry>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.128 0 0.055"/>
+    </collision>
+    <collision>
+      <geometry>
+        <cylinder length="0.059" radius="0.0325"/>
+      </geometry>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.2205 0 0.055"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.10609208 -0.00541815 0.03476383"/>
+      <mass value="0.83940874"/>
+      <inertia ixx="0.00108061" ixy="8.669e-05" ixz="0.00208102" iyy="0.00954238" iyz="1.332e-05" izz="0.00886621"/>
+    </inertial>
+  </link>
+  <joint name="joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="0.218 0 0.057"/>
+    <parent link="link03"/>
+    <child link="link04"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <limit effort="30.0" lower="-1.7453292519943295" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="link04">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/visual/z1_Link04.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.073" radius="0.0325"/>
+      </geometry>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.0472 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.04366681 0.00364738 -0.00170192"/>
+      <mass value="0.56404563"/>
+      <inertia ixx="0.00031576" ixy="-8.13e-05" ixz="-4.091e-05" iyy="0.00092996" iyz="5.96e-06" izz="0.00097912"/>
+    </inertial>
+  </link>
+  <joint name="joint5" type="revolute">
+    <origin rpy="0 0 0" xyz="0.07 0.0 0.0"/>
+    <parent link="link04"/>
+    <child link="link05"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <limit effort="30.0" lower="-1.7278759594743864" upper="1.7278759594743864" velocity="10"/>
+  </joint>
+  <link name="link05">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/visual/z1_Link05.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03121533 0.0 0.00646316"/>
+      <mass value="0.38938492"/>
+      <inertia ixx="0.00017605" ixy="-4e-07" ixz="-5.689e-05" iyy="0.00055896" iyz="1.3e-07" izz="0.0005386"/>
+    </inertial>
+  </link>
+  <joint name="joint6" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0492 0.0 0.0"/>
+    <parent link="link05"/>
+    <child link="link06"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <limit effort="30.0" lower="-2.792526803190927" upper="2.792526803190927" velocity="10"/>
+  </joint>
+  <link name="link06">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/visual/z1_Link06.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.051" radius="0.0325"/>
+      </geometry>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.0255 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0241569 -0.00017355 -0.00143876"/>
+      <mass value="0.28875807"/>
+      <inertia ixx="0.00018328" ixy="-1.22e-06" ixz="-5.4e-07" iyy="0.0001475" iyz="-8e-08" izz="0.0001468"/>
+    </inertial>
+  </link>
+  <joint name="gripperStator" type="fixed">
+    <origin rpy="0 0 0" xyz="0.051 0.0 0.0"/>
+    <parent link="link06"/>
+    <child link="gripperStator"/>
+  </joint>
+  <link name="gripperStator">
+    <visual>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/visual/z1_GripperStator.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/collision/z1_GripperStator.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.04764427 -0.00035819 -0.00249162"/>
+      <mass value="0.52603655"/>
+      <inertia ixx="0.00038683" ixy="3.59e-06" ixz="-7.662e-05" iyy="0.00068614" iyz="-2.09e-06" izz="0.00066293"/>
+    </inertial>
+  </link>
+  <joint name="jointGripper" type="revolute">
+    <origin rpy="0 0 0" xyz="0.049 0.0 0"/>
+    <parent link="gripperStator"/>
+    <child link="gripperMover"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <limit effort="30.0" lower="-1.5707963267948966" upper="0.0" velocity="10"/>
+  </joint>
+  <link name="gripperMover">
+    <visual>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/visual/z1_GripperMover.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/collision/z1_GripperMover.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01320633 0.00476708 0.00380534"/>
+      <mass value="0.27621302"/>
+      <inertia ixx="0.00017716" ixy="-1.683e-05" ixz="1.786e-05" iyy="0.00026787" iyz="-2.62e-06" izz="0.00035728"/>
+    </inertial>
+  </link>
+  <transmission name="JointTransGripper">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="jointGripper">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="ActuatorGripper">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo reference="gripperStator">
+    <self_collide>true</self_collide>
+  </gazebo>
+  <gazebo reference="gripperMover">
+    <self_collide>true</self_collide>
+  </gazebo>
+  <transmission name="JointTrans1">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint1">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="Actuator1">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="JointTrans2">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint2">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="Actuator2">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="JointTrans3">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint3">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="Actuator3">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="JointTrans4">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint4">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="Actuator4">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="JointTrans5">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint5">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="Actuator5">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="JointTrans6">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint6">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="Actuator6">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+</robot>
+