# BZ1 Robot Description

The BZ1 combines a Unitree B1 quadruped base with a Unitree Z1 6-DOF arm and
gripper, joined by MYBOTSHOP's custom `z1_mount` adapter bracket. This bundle
contains the three ROS packages needed to resolve `bz1_description/urdf/robot.urdf`
in full:

- `bz1_description/` — the combined robot: URDF, xacro sources, and the
  z1_mount adapter meshes (the only bz1-specific geometry).
- `b1_description/` — Unitree B1 quadruped leg meshes and xacro (trunk, hip,
  thigh, calf x4 legs), referenced via `package://b1_description/...`.
- `z1_description/` — Unitree Z1 arm + gripper meshes and xacro (Link00-06,
  GripperStator, GripperMover), referenced via `package://z1_description/...`.

Drop all three folders into a catkin workspace `src/` directory and build with
`catkin build` (or `catkin_make`). `robot.urdf` in `bz1_description/urdf/`
already has all package:// mesh paths resolved against these three packages —
no xacro re-generation needed to view it in RViz.

19 revolute joints: 12 leg joints (FR/FL/RR/RL x hip/thigh/calf), 6 Z1 arm
joints (joint1-6), 1 gripper joint (jointGripper).

Software stack is ROS 1 Noetic (catkin_ws), not ROS 2.

MYBOTSHOP / QUADRUPED Robotics — support@quadruped.de
