arx-x5-sdk 0.1.0

ARX X5 Robot Arm Python SDK

ARX X5 SDK

Python bindings for the ARX X5 robot arm SDK. This package provides a Python interface to control ARX X5 robot arms.

Prerequisites

sudo apt install build-essential cmake python3-dev

Python dependencies (pybind11) are installed automatically during build.

Installation

From PyPI (Recommended)

pip install arx-x5-sdk

From Source

git clone https://github.com/uma-robots/arx-x5-sdk.git
cd arx-x5-sdk
pip install .

Development Mode

For active development:

pip install -e .

All installation methods automatically build the C++ extension using CMake.

Usage

Simple API (Recommended)

The easiest way to use the SDK with automatic URDF selection:

import arx_x5_sdk
from arx_x5_sdk import ArmType

# Create interface using enum (recommended)
interface = arx_x5_sdk.ArxInterface("can0", ArmType.X5_2025)

# Or use the default (X5_2025)
interface = arx_x5_sdk.ArxInterface("can0")

# Available arm types:
# - ArmType.FOLLOWER  : Follower arm (x5.urdf)
# - ArmType.LEADER    : Leader arm (x5_master.urdf)
# - ArmType.X5_2025   : X5 2025 model (x5_2025.urdf, default)

Advanced API

For more control, use the low-level C++ interface directly:

import arx_x5_sdk
from arx_x5_sdk import ArmType

# Get URDF path by type
urdf_path = arx_x5_sdk.get_urdf_path_by_type(ArmType.X5_2025)

# Or get URDF path by filename
urdf_path = arx_x5_sdk.get_urdf_path("x5_2025.urdf")

# Create interface with explicit URDF path
interface = arx_x5_sdk.C_ArxInterface(urdf_path, "can0", ArmType.X5_2025)

# Integers still work for backwards compatibility
interface = arx_x5_sdk.ArxInterface("can0", 2)  # equivalent to ArmType.X5_2025

Development

Manual Build (Advanced)

If you need to rebuild just the C++ extension:

python setup.py build_ext --inplace

This builds the extension in-place without installing.

Architecture Support

The build automatically detects your system architecture:

• x86_64: Uses libarx_x5_src.so
• ARM64/aarch64: Uses libarx_x5_src-arm64.so

Troubleshooting

Build errors

Ensure prerequisites are installed:

sudo apt install build-essential cmake python3-dev

Import errors

Make sure the package is installed:

pip install -e .