# hightorque-robotics/panthera-ht_main architecture

> Architecture diagram of the GitHub repository hightorque-robotics/panthera-ht_main, generated by GitDiagram from its file tree, README and a sample of source files (last updated 2026-06-22). It is an AI-made overview: check details against the source.

- Interactive diagram: https://gitdiagram.com/hightorque-robotics/panthera-ht_main
- Repository: https://github.com/hightorque-robotics/panthera-ht_main

## Overview

1. **Repository role**
   - `Panthera-HT_Main` is not the control stack itself; it is the **entry-point / umbrella repository** for the Panthera-HT six-axis robotic arm platform.
   - Its main job is to present the project, organize references, and route engineers to the specialized companion repositories.

2. **Primary boundary: documentation vs implementation**
   - This repo contains **documentation and media only**: `README.md`, license, PDF manuals, images, and demo GIFs.
   - The actual mechanical design files, SDK code, ROS2 integration, and LeRobot integration live in separate repositories linked from the README.

3. **Hardware/product layer**
   - The README defines the physical system as a **six-axis robotic arm** built around HighTorque planetary joint modules.
   - The hardware architecture implied here includes a **sheet-metal frame**, **3D-printed parts**, **CNC-machined components**, and a **24V 15A power supply**.

4. **Control/software layer**
   - The supported control interfaces are described as **C++**, **Python**, and **ROS2**.
   - Functional capabilities listed here include **position/velocity/torque control**, **impedance control**, **gravity compensation**, **gravity-friction compensation**, **master-slave teleoperation**, and **drag teaching**.

5. **Vision and manipulation demos**
   - The README references higher-level demo workflows such as **visual servoing**, **color-block tracking**, and **GraspNet-based grasp pose estimation**.
   - These are presented as application-level extensions built on top of the arm control stack, not as native content in this repository.

6. **Robot learning / data collection path**
   - A separate integration path exists for **LeRobot**, used for **data collection and inference** in imitation-learning workflows.
   - Architecturally, this is a distinct branch from the classical control and ROS2 paths, even though it uses the same arm hardware.

7. **ROS2 ecosystem boundary**
   - ROS2 is treated as another major integration surface for **drivers, control, and simulation**.
   - This indicates the platform is designed to be used both as a direct SDK-controlled device and as a ROS2-managed robot in larger systems.

8. **Documentation artifacts in this repo**
   - `documents/` contains the two core PDF references: a **Quick Start Guide** and a **Parameter Manual**, in both Chinese and English filenames.
   - `images/` and `video/gif/` provide product photos and animated control demos, which support onboarding and capability demonstration rather than runtime behavior.

9. **Dependency graph across repositories**
   - The README explicitly positions this repo as the hub for a family of repos:
     - `Panthera-HT_Model` for mechanical CAD/BOM,
     - `Panthera-HT_SDK` for C++/Python control examples,
     - `Panthera-HT_ROS2` for ROS2 driver/control/simulation,
     - `Panthera-HT_lerobot` for imitation learning,
     - `Panthera-HT_Extensions` for camera calibration and vision workflows.
   - For an architecture diagram, these should be shown as **sibling subsystems referenced by this repo**, not as folders inside it.

10. **Operational model**
   - The intended user flow is: read this repo for project overview → choose a path (hardware, SDK, ROS2, or learning) → move into the corresponding repository for implementation.
   - So the architecture here is best drawn as a **documentation hub and integration map** around a physical robot platform, with no executable service running inside this repository itself.

Main entry points: [`README.md`](https://github.com/hightorque-robotics/panthera-ht_main/blob/main/README.md) (README), [`documents/Panthera-HT_Quick_Start_Guide_A5.pdf`](https://github.com/hightorque-robotics/panthera-ht_main/blob/main/documents/Panthera-HT_Quick_Start_Guide_A5.pdf) (Quick Start), [`documents/Panthera-HT快速使用指南A5.pdf`](https://github.com/hightorque-robotics/panthera-ht_main/blob/main/documents/Panthera-HT快速使用指南A5.pdf) (快速指南), [`documents/Panthera-HT_Parameter_Manual_A5.pdf`](https://github.com/hightorque-robotics/panthera-ht_main/blob/main/documents/Panthera-HT_Parameter_Manual_A5.pdf) (Parameter Manual)

## Diagram (Mermaid)

```mermaid
flowchart TD

subgraph group_this_repo["Main repo"]
  node_readme["README<br/>entrypoint<br/>[README.md]"]
  node_license["License<br/>legal"]
  node_platform{{"Robot platform<br/>hardware arm"}}
  node_hardware_stack{{"Hardware stack<br/>mechanical/electrical"}}
  node_control_stack{{"Control stack<br/>motion control"}}
  node_vision_apps{{"Vision demos<br/>application layer"}}
end

subgraph group_artifacts["Local artifacts"]
  node_quickstart_en["Quick Start<br/>manual pdf"]
  node_quickstart_cn["快速指南<br/>manual pdf"]
  node_params_en["Parameter Manual<br/>manual pdf"]
  node_params_cn["参数手册<br/>manual pdf"]
  node_images["Images<br/>media"]
  node_gifs["Demo GIFs<br/>media"]
end

subgraph group_companion["Companion repos"]
  node_sdk_repo["SDK"]
  node_ros2_repo["ROS2<br/>robot middleware"]
  node_lerobot_repo["LeRobot<br/>learning integration"]
  node_model_repo["Model CAD<br/>mechanical design"]
  node_extensions_repo["Extensions<br/>vision tools"]
end

node_readme -->|"describes"| node_platform
node_readme -->|"points to"| node_quickstart_en
node_readme -->|"points to"| node_quickstart_cn
node_readme -->|"points to"| node_params_en
node_readme -->|"points to"| node_params_cn
node_readme -->|"includes"| node_images
node_readme -->|"includes"| node_gifs
node_platform -->|"built from"| node_hardware_stack
node_platform -->|"supports"| node_control_stack
node_platform -->|"extends to"| node_vision_apps
node_readme -.->|"routes to"| node_model_repo
node_readme -.->|"routes to"| node_sdk_repo
node_readme -.->|"routes to"| node_ros2_repo
node_readme -.->|"routes to"| node_lerobot_repo
node_readme -.->|"routes to"| node_extensions_repo
node_sdk_repo -->|"implements"| node_control_stack
node_ros2_repo -->|"implements"| node_control_stack
node_lerobot_repo -->|"uses"| node_control_stack
node_extensions_repo -->|"enables"| node_vision_apps
node_model_repo -->|"defines"| node_hardware_stack

click node_readme "https://github.com/hightorque-robotics/panthera-ht_main/blob/main/README.md"
click node_license "https://github.com/hightorque-robotics/panthera-ht_main/tree/main/LICENSE"
click node_quickstart_en "https://github.com/hightorque-robotics/panthera-ht_main/blob/main/documents/Panthera-HT_Quick_Start_Guide_A5.pdf"
click node_quickstart_cn "https://github.com/hightorque-robotics/panthera-ht_main/blob/main/documents/Panthera-HT快速使用指南A5.pdf"
click node_params_en "https://github.com/hightorque-robotics/panthera-ht_main/blob/main/documents/Panthera-HT_Parameter_Manual_A5.pdf"
click node_params_cn "https://github.com/hightorque-robotics/panthera-ht_main/blob/main/documents/Panthera-HT参数手册A5.pdf"
click node_images "https://github.com/hightorque-robotics/panthera-ht_main/tree/main/images"
click node_gifs "https://github.com/hightorque-robotics/panthera-ht_main/tree/main/video/gif"

classDef toneNeutral fill:#f8fafc,stroke:#334155,stroke-width:1.5px,color:#0f172a
classDef toneBlue fill:#dbeafe,stroke:#2563eb,stroke-width:1.5px,color:#172554
classDef toneAmber fill:#fef3c7,stroke:#d97706,stroke-width:1.5px,color:#78350f
classDef toneMint fill:#dcfce7,stroke:#16a34a,stroke-width:1.5px,color:#14532d
classDef toneRose fill:#ffe4e6,stroke:#e11d48,stroke-width:1.5px,color:#881337
classDef toneIndigo fill:#e0e7ff,stroke:#4f46e5,stroke-width:1.5px,color:#312e81
classDef toneTeal fill:#ccfbf1,stroke:#0f766e,stroke-width:1.5px,color:#134e4a
class node_readme,node_license,node_platform,node_hardware_stack,node_control_stack,node_vision_apps toneBlue
class node_quickstart_en,node_quickstart_cn,node_params_en,node_params_cn,node_images,node_gifs toneAmber
class node_sdk_repo,node_ros2_repo,node_lerobot_repo,node_model_repo,node_extensions_repo toneMint
```

## Components

### Main repo

Documentation hub and media entry-point for the Panthera-HT platform

- [README](https://github.com/hightorque-robotics/panthera-ht_main/blob/main/README.md): entrypoint · Project overview and navigation hub · `README.md`
- [License](https://github.com/hightorque-robotics/panthera-ht_main/tree/main/LICENSE): legal · Repository license · `LICENSE`
- **Robot platform**: hardware arm · Panthera-HT six-axis robotic arm with HighTorque joints
- **Hardware stack**: mechanical/electrical · Frame, printed parts, CNC parts, and 24V power supply
- **Control stack**: motion control · Position, velocity, torque, impedance, gravity compensation, teleoperation, and drag teaching
- **Vision demos**: application layer · Visual servoing, color tracking, and grasp pose estimation

### Local artifacts

Files contained in this repository

- [Quick Start](https://github.com/hightorque-robotics/panthera-ht_main/blob/main/documents/Panthera-HT_Quick_Start_Guide_A5.pdf): manual pdf · English quick start guide · `documents/Panthera-HT_Quick_Start_Guide_A5.pdf`
- [快速指南](https://github.com/hightorque-robotics/panthera-ht_main/blob/main/documents/Panthera-HT快速使用指南A5.pdf): manual pdf · Chinese quick start guide · `documents/Panthera-HT快速使用指南A5.pdf`
- [Parameter Manual](https://github.com/hightorque-robotics/panthera-ht_main/blob/main/documents/Panthera-HT_Parameter_Manual_A5.pdf): manual pdf · English parameter manual · `documents/Panthera-HT_Parameter_Manual_A5.pdf`
- [参数手册](https://github.com/hightorque-robotics/panthera-ht_main/blob/main/documents/Panthera-HT参数手册A5.pdf): manual pdf · Chinese parameter manual · `documents/Panthera-HT参数手册A5.pdf`
- [Images](https://github.com/hightorque-robotics/panthera-ht_main/tree/main/images): media · Product photos and visual references · `images`
- [Demo GIFs](https://github.com/hightorque-robotics/panthera-ht_main/tree/main/video/gif): media · Animated control and capability demos · `video/gif`

### Companion repos

External implementation repositories referenced from the README

- **SDK**: control sdk · C++ and Python control examples and APIs
- **ROS2**: robot middleware · ROS2 drivers, control, and simulation integration
- **LeRobot**: learning integration · Imitation-learning data collection and inference path
- **Model CAD**: mechanical design · Mechanical CAD and BOM repository
- **Extensions**: vision tools · Camera calibration and vision workflow repository

## Connections

- README → Robot platform: describes · Defines the robotic arm platform and usage paths
- README → Quick Start: points to · Documentation entry points
- README → 快速指南: points to · Documentation entry points
- README → Parameter Manual: points to · Documentation entry points
- README → 参数手册: points to · Documentation entry points
- README → Images: includes · Product imagery and onboarding visuals
- README → Demo GIFs: includes · Demo media supporting capabilities
- Robot platform → Hardware stack: built from · Physical frame and power subsystem
- Robot platform → Control stack: supports · Core control and teleoperation capabilities
- Robot platform → Vision demos: extends to · Application-level perception and manipulation demos
- README → Model CAD: routes to · Mechanical design repository
- README → SDK: routes to · C++/Python control repository
- README → ROS2: routes to · ROS2 integration repository
- README → LeRobot: routes to · Learning and data collection repository
- README → Extensions: routes to · Vision and calibration repository
- SDK → Control stack: implements · SDK-oriented motion and robot control
- ROS2 → Control stack: implements · ROS2 driver and control surface
- LeRobot → Control stack: uses · Shared hardware for imitation learning workflows
- Extensions → Vision demos: enables · Camera calibration and vision workflows
- Model CAD → Hardware stack: defines · Mechanical structure and bill of materials