arx-x5-sdk 0.1.3

ARX X5 Robot Arm Python SDK

ARX X5 SDK

Python bindings for the ARX X5 robot arm. Control ARX X5 arms via CAN interface.

This package is based on the official ARX X5 Python SDK and provides an easy-to-install, well-documented Python package published to PyPI.

Special thanks to the ARX Robotics team for developing the original SDK and making it available to the community!

Why This Package?

• Easy Installation: pip install arx-x5-sdk (no complex build steps for users)
• Bundled Dependencies: Includes necessary libraries - no ROS installation required
• Clean API: Modular, better-documented Python interface
• Production Ready: Proper package structure with comprehensive documentation

Installation

Prerequisites

# Build and runtime dependencies
sudo apt install build-essential cmake python3-dev patchelf liborocos-kdl-dev liburdfdom-dev

Note: KDL URDF parser is bundled - no ROS installation needed!

Install from Source

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

Note: Due to CMake build requirements, editable mode (pip install -e .) is not recommended. Reinstall after changes with pip install --force-reinstall .

Quick Start

from arx_x5_sdk import ArxInterface, ArmType

# Connect to arm on CAN interface
arm = ArxInterface("can0", ArmType.X5_2025)

Note: For leader-follower teleoperation, you can use the same arm type (e.g. ArmType.X5_2025)

Available Arm Types

ArmType.FOLLOWER                  # Follower arm
ArmType.LEADER                    # Leader/master arm  
ArmType.X5_2025                   # X5 2025 model (default)
ArmType.X5_2025_LOWER_MASS_LINK6  # X5 2025 with corrected gravity compensation

Advanced Usage

Custom URDF

from arx_x5_sdk import C_ArxInterface, get_urdf_path

urdf_path = get_urdf_path("x5_2025_lower_mass_link6.urdf")
arm = C_ArxInterface(urdf_path, "can0", 2)

Get URDF Path

from arx_x5_sdk import get_urdf_path, get_urdf_path_by_type, ArmType

# By filename
path = get_urdf_path("x5_2025.urdf")

# By arm type
path = get_urdf_path_by_type(ArmType.LEADER)

Architecture Support

• x86_64: Fully supported
• ARM64: Supported (may have verbose output)

Development & Publishing

This project uses GitHub Actions for CI/CD:

• .github/workflows/build.yml - CI testing on every push/PR
• .github/workflows/publish.yml - Publish releases to PyPI (triggered by version tags)
• .github/workflows/test-publish.yml - Test publishing to TestPyPI (manual)

See each workflow file for detailed documentation on triggers, usage, and requirements.

Documentation

• URDF files: See arx_x5_sdk/urdf/README.md for gravity compensation fixes
• Library details: See lib/arx_x5_src/README.md for pre-built libraries info
• Bundled dependencies: See lib/external/README.md for third-party libraries

Troubleshooting

Build fails: Check prerequisites are installed

sudo apt install build-essential cmake python3-dev patchelf liborocos-kdl-dev liburdfdom-dev

Import fails: Reinstall the package

pip install --force-reinstall .

Gravity compensation issues: Use x5_2025_lower_mass_link6.urdf (see urdf/README.md)