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Architecture and Directory Structure

This section describes only the directory structure and module relationships of the released version, and does not involve the internal implementation in /src.

Top-level Directory Structure (Summary)

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β”œβ”€ demo/
β”‚  β”œβ”€ zsl-1/
β”‚  β”‚  β”œβ”€ cpp/
β”‚  β”‚  └─ python/
β”‚  └─ zsl-1w/
β”‚     β”œβ”€ cpp/
β”‚     └─ python/
β”œβ”€ include/
β”‚  β”œβ”€ zsl-1/
β”‚  β”‚  β”œβ”€ highlevel.h
β”‚  β”‚  └─ lowlevel.h
β”‚  β”œβ”€ zsl-1w/
β”‚  β”‚  └─ highlevel.h
β”‚  β”œβ”€ lowlevel/
β”‚  β”‚  └─ lowlevel.h
β”œβ”€ lib/
β”‚  β”œβ”€ zsl-1/
β”‚  β”‚  β”œβ”€ aarch64/
β”‚  β”‚  └─ x86_64/
β”‚  β”œβ”€ zsl-1w/
β”‚  β”‚  β”œβ”€ aarch64/
β”‚  β”‚  └─ x86_64/

Key directory descriptions:

  • include/: Header files (public headers and model-specific headers)

    • include/zsl-1/highlevel.h, include/zsl-1/lowlevel.h
    • include/zsl-1w/highlevel.h

  • lib/: Compiled runtime libraries (separated by model and architecture)

    • lib/<model>/<arch>/libmc_sdk_<model>_<arch>.so
    • lib/<model>/<arch>/mc_sdk_<model>_py.*.so (Python extension)

  • demo/: Sample programs (C++ / Python)

    • demo/zsl-1/cpp, demo/zsl-1/python/examples
    • demo/zsl-1w/cpp, demo/zsl-1w/python/examples
  • Other: CMakeLists.txt, build.sh, README.md, etc.

ZsiBot System Architecture

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SDK Software Block Diagram

Currently, motion control-related SDK interfaces are open, including high-level motion control interfaces, low-level motor control interfaces, IMU inertial data interfaces, and motor status data interfaces

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SDK Software Interfaces

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Motion Control State Machine

Instructions need to be issued according to the following state transition logic, otherwise the machine may fall, malfunction, or not respond

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Joint Control Command Description

πŸ“Œ Command Order

  • FR (right front)
  • FL (left front)
  • RR (right rear)
  • RL (left rear)

πŸ”„ Joint Direction Definition

  • A, H, K Joint Coordinate System: Forward as X-axis, Left as Y-axis, Up as Z-axis
  • Leg Order: Front-Right, Front-Left, Rear-Right, Rear-Left
  • Rotational Coordinate System: Right-Hand Rule
  • Forward Direction: Positive X-axis; Left Direction: Positive Y-axis; Up Direction: Positive Z-axis alt text

πŸ”§ Control Parameters

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Joint angle commands
float q_des_abad[4] // A joint angle command
float q_des_hip[4]  // H joint angle command
float q_des_knee[4] // K joint angle command

Joint angular velocity commands
float qd_des_abad[4]  // A joint angular velocity command
float qd_des_hip[4]  // H joint angular velocity command
float qd_des_knee[4] // K joint angular velocity command

Joint PID parameters
float kp_abad[4]  // A joint Kp
float kp_hip[4]   // H joint Kp
float kp_knee[4] // K joint Kp

float kd_abad[4]  // A joint Kd
float kd_hip[4]   // H joint Kd
float kd_knee[4]  // K joint Kd

Joint torque commands
float tau_abad_ff[4]  // A joint torque command
float tau_hip_ff[4]   // H joint torque command
float tau_knee_ff[4]  // K joint torque command