Unable to connect to Z1 when mounted on B1 robot

[LiamMZ]

The controller fails to connect to the z1 robot when mounted on the B1 robot. The standard IP address 192.168.123.110 responds to pings, but the controller and SDK lose connection when attempting to connect with the z1_ctrl executable.

[chiragzq]

We are having the same issue. In this paper they were able to get it working, but we haven't tested it yet. https://tif-twirl-13.github.io/learning-compliance/learning_compliance_thesis.pdf

[ThomasP850]

Their solution worked for me. Just ssh into the X86 CPU at 192.168.123.220 and edit the file: Unitree/autostart/z1/z1.sh. Remove the line that runs ./keep_arm_joystick_alive.sh. Depending on how you have things configured, you might also need to remove ./keep_arm_alive.sh.

[pwang649]

Their solution worked for me. Just ssh into the X86 CPU at 192.168.123.220 and edit the file: Unitree/autostart/z1/z1.sh. Remove the line that runs ./keep_arm_joystick_alive.sh. Depending on how you have things configured, you might also need to remove ./keep_arm_alive.sh.

That works! Thank you Thomas!