Update CMakeLists.txt

.dockerignore

@@ -0,0 +1,4 @@
+build/**
+build
+unitree_ws
+unitree_ws/**

.gitignore

@@ -1,2 +1,6 @@
 .vscode
+/build
+/cmake-build*
+.idea
 build
+unitree_ws

Bytelogics.Dockerfile

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+FROM  siilats/z1_controller
+CMD ./z1_ctrl

Dockerfile

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+FROM  kstein/noetic-arm-desktop-full
+
+RUN apt-get update
+RUN apt-get -y install python3-catkin-tools ninja-build git telnet
+
+ADD . / data/
+WORKDIR data
+RUN mkdir build
+WORKDIR build
+ENV CMAKE_PREFIX_PATH=/opt/ros/noetic
+RUN bash -c 'cmake ..'
+RUN make
+WORKDIR ..
+RUN ./prepare_unitree_ws.sh
+SHELL ["/bin/bash", "-c"]
+WORKDIR unitree_ws
+RUN source /ros_entrypoint.sh && /opt/ros/noetic/bin/catkin_make
+RUN source devel/setup.bash
+# WORKDIR ../build
+#CMD roslaunch unitree_gazebo z1_spawn.launch
+
+#CMD ./z1_ctrl
+#docker tag bytelogics:z1_controller siilats/z1_controller
+#docker push siilats/z1_controller:latest
+#xhost +localhost
+#defaults read org.xquartz.X11 enable_iglx
+
+#defaults write org.xquartz.X11 enable_iglx -bool YES
+#defaults read org.xquartz.X11 enable_iglx
+
+
+#docker run  -ti -v /tmp/.X11-unix:/tmp/.X11-unix -e "DISPLAY=host.docker.internal:0" pstoll/emacs-cross emacs
+# docker run -it -p 11311:11311 --env="ROS_MASTER_URI=http://localhost:11311" bytelogics:z1_controller roslaunch unitree_gazebo z1_spawn.launch
+
+#docker run -p 6080:80 --shm-size=512m tiryoh/ros-desktop-vnc:melodic

README.md

@@ -1,7 +1,63 @@
-Documentation:
+documentation
 
-[unitree-z1-docs-en](http://dev-z1.unitree.com)
+[unitree-z1-docs-english](http://dev-z1.unitree.com)
 
-[unitree-z1-docs-cn](http://dev-z1.cn.unitree.com)
+[unitree-z1-docs-chinese](http://dev-z1.cn.unitree.com)
 
+see [unitree-z1-docs](http://dev-z1.unitree.com)
+
+## Build docker image
+```shell
+docker build . -t bytelogics:z1_controller
+```
+
+## Run the docker instance
+For python connection:
+```shell
+docker run -ti --rm --network host bytelogics:z1_controller
+
+```
+
+For manual build within a docker:
+Make sure you are not in build folder but in the parent then run
+docker run -it --net=host --env="ROS_MASTER_URI=http://host.docker.internal:11311" bytelogics:z1_controller bash
+`docker run -ti --rm --network host bytelogics:z1_controller bash`
+`cmake .. -DCOMMUNICATION=ROS`
+`make`
+`./z1_ctrl`
+you can try with 
+`./z1_ctrl k` for keyboard
+
+Cmake command you can do catkin_make -DCOMMUNICATION=ROS 
+then you dont need to edit the cmake.txt file
+## old docker run -ti --rm --network host --env="DISPLAY"  -e DISPLAY=${HOSTNAME}:0 --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw"  --volume="/Users/keithsiilats/overlay_ws:/data/overlay_ws" --volume="/Users/keithsiilats/unitree_ws:/data/unitree_ws"  -p 8071:8071 -p 11311:11311 bytelogics:z1_controller bash
+docker run -ti --rm --network host    --env="DISPLAY=novnc:0.0" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw"  --volume="/Users/keithsiilats/overlay_ws:/data/overlay_ws" --volume="/Users/keithsiilats/unitree_ws:/data/unitree_ws"  -p 8071:8071 -p 11311:11311 bytelogics:z1_controller bash
+docker run -d --rm --network host  --env="DISPLAY_WIDTH=3000" --env="DISPLAY_HEIGHT=1800" --env="RUN_XTERM=no" \
+--name=novnc -p=8080:8080 theasp/novnc:latest
+
+## on mac setup 
+https://gist.github.com/cschiewek/246a244ba23da8b9f0e7b11a68bf3285
+cd /data/unitree_ws
+source devel/setup.bash
+roslaunch unitree_gazebo z1.launch
+
+## macos v2 
+brew install --cask mambaforge
+mamba create -n ros_env
+mamba init
+mamba activate ros_env
+conda config --env --add channels robostack-staging
+mamba install ros-noetic-desktop-full
+mamba install compilers cmake pkg-config make ninja colcon-common-extensions catkin_tools
+./prepare_unitree_ws.sh
+cd unitree_ws
+rm -Rf src/unitree_controller
+rm -Rf src/z1_controller
+rm -Rf src/unitree_legged_control
+
+catkin_make
+source devel/setup.bash 
+roslaunch unitree_gazebo z1_empty.launch
+# go to dockcker and run
+# roslaunch unitree_gazebo z1_spawn.launch
 

config/config.xml

@@ -1,12 +1,12 @@
 <configurartion>
     <!-- lower computer communication -->
-    <IP>192.168.123.110</IP>
+    <IP>10.0.0.250</IP>
     <Port>8881</Port>
 
     <collision>
-        <open>N</open> <!-- Y or N -->
-        <limitT>10.0</limitT> <!-- N*M -->
-        <load>0.0</load><!-- kg-->
+        <open>Y</open> <!-- Y or N -->
+        <limitT>20.0</limitT> <!-- N*M -->
+        <load>0.02</load><!-- kg-->
     </collision>
 
     <grasp_max_torque>10.0</grasp_max_torque>

prepare_unitree_ws.sh

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+mkdir unitree_ws
+cd unitree_ws
+mkdir src
+mkdir build
+cd src
+git clone https://github.com/Bytelogics/unitree_ros.git
+git clone https://github.com/Bytelogics/unitree_ros_to_real.git
+rm -rf unitree_ros_to_real/unitree_legged_real

z1_simulator_gui.Dockerfile

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+FROM osrf/ros:noetic-desktop-full
+
+RUN apt-get update
+RUN apt-get -y install python3-catkin-tools ros-noetic-catkin
+
+ADD unitree_ws /data/unitree_ws
+SHELL ["/bin/bash", "-c"]
+WORKDIR data/unitree_ws/
+RUN source /ros_entrypoint.sh && /opt/ros/noetic/bin/catkin_make
+ENV CMAKE_PREFIX_PATH=/opt/ros/noetic
+
+CMD source devel/setup.bash && roslaunch unitree_gazebo z1.launch