Quick-Start
===========

.. image:: media/gifs/z1.gif
   :width: 100%

Quadruped Robotics Europe is a young, but fast growing startup in the
field of legged robotics. In this documentation, the software overview
of Z1 robot is shown. The software is currently under development.
At the moment simples ros drivers are available for the robot along with 
simulation are available in Gazebo.


.. _Z1 Operation:

Operation
---------

.. image media/figures/z1_01.png

To quickly test the real Z1 capabilities, one may interact with it using the keyboard. However, first the network must
be set up as in `Z1 Networking`_ and secondly the software drivers must be installed. 

For Z1 gripper and arm run the following command:

.. code:: bash

   roslaunch z1_gripper_moveit_config real_z1_moveit.launch 

For Z1 arm only:

.. code:: bash

   roslaunch z1_moveit_config real_z1_moveit.launch


.. _Z1 Networking:

Network-Setup
=============

For network setup please connect the ethernet cable that is provided with the Z1 from the Z1 to your computer. After that set-up a static 
connection as explained below.

Network-Connection
------------------

- To create a static connection in your own PC, in Ubuntu go to ``Settings`` → ``Network`` then click on ``+`` icon and create a new connection.

   1. The first task is to go to ``IPv4`` and change the connection to ``Manual``.

   2. The second task is to put the Address IP as ``192.168.123.51`` and the Netmask as ``24``.

- Click save and restart your network. Next is to connect the LAN cable to the robot.

- After a successful connection, the host's local IP can be checked by:

.. code:: bash

   ifconfig

This should show the host IP which was assigned in the above step. Now its time to check if we can ping the robot or not, to do so type in your host pc

.. code:: bash

   ping 192.168.123.110

After a successful ping, you can access the robot.

Network-IPs
-----------

The Z1 has the following networks as of `20-Mar-2024` and may vary in future versions, the following table shows the networks

.. table:: Z1 network devices

   =================     ================  ========
   Device                Network Address   Password
   =================     ================  ========
   Z1-MCU                192.168.123.110   N/A
   =================     ================  ========

For connection please follow the instructions provided with the manual of the Z1. 

.. warning::

   There are two ethernet ports on the Z1. One is the main port and one is the auxiliary port. 
   If you connect to incorrect ethernet port, connection of the Z1 would be unstable.