X5 python SDK-V2

When operating the robotic arm, make sure it is mounted securely and keep a clear area within a 1.5 m radius around the base. Watch out for collisions with fragile objects and for the risk of personal injury. In an emergency, cut the power first.

Only Ubuntu 24.04 is supported python >3.8

Model variants

Model		Illustration	Difference
X5 (2023)	Standard single arm		Single-rail two-finger gripper
X5 (2025)	Arm on the AC one		Dual-rail two-finger gripper

In the code, arm_config holds the arm parameters. Open xx_demo.py and switch the type value according to your model.

arm_config: Dict[str, Any] = {
        "can_port": "can1",
        "type": 0,
        # 0>2023  2>2025
    }

00 Hardware connection

00 Environment setup

sudo apt update
./01_global_nopasswd_sudo.sh.x
./setup.sh        

A CAN devices

Configuring a CAN device

Unless the device is changed, this only has to be done once.

When setting up multiple devices, do them one at a time. After configuring one target, you can leave it plugged in and simply plug in the next target to configure it.

Plugging them in one by one is what lets you tell the arms apart. can1 is recommended for the left arm, can3 for the right arm.

Double-click /ARX_CAN_doctor to launch it

can1 is recommended for the left arm, can3 for the right arm

After clicking Configure, wait until the log reports a successful configuration.

Repeat for the remaining CAN devices.

Starting a CAN device

Method A

Click the Configure button next to the CAN device you need in the doctor; this both configures and starts it. It stays valid as long as the CAN device is not disconnected from the computer.

Method B

Go into the /start_CAN directory and launch the matching index

./arx_can1

//for a dual-arm setup, also launch
./arx_can3

B Running

Single arm:
python3 single_arm_demo.py

Dual arm:
python3 dual_arm_demo.py

SDK

0> Gripper control

set_gripper_pos()

Type	Gripper range
X5-2023	0, 5
X5-2025	-3.14, 0.1

1> Pose control

set_ee_pose_xyzrpy(xyzrpy, duration=0) // duration is the time to reach the target; 0 means reach it at maximum speed, in seconds

2> Joint position control (low-level gravity compensation)

set_joint_positions(positions=positions, duration=0) // duration is the time to reach the target; 0 means reach it at maximum speed, in seconds

3> State feedback

Joint feedback (position, velocity, torque) + pose feedback

3.1 Joint position feedback

get_joint_positions()

3.2 Joint velocity feedback

get_joint_velocities()

3.3 Joint torque feedback

get_joint_currents()

3.4 End-effector pose feedback

get_ee_pose_xyzrpy() in Euler-angle form

4> Gravity compensation

gravity_compensation()

The default value accounts for the gripper only. After mounting a camera or other equipment, if the end effector drifts down or lifts up, change the end-effector mass as described in <5>.

If it lifts up, lower the value.

If it drops, raise the value.

5> Changing the end-effector mass

Change link6 mass

Remember to save

If it lifts up, lower the value.

If it drops, raise the value.

6> Home position

Joint axes and zero position

Joint rotation follows the right-hand rule: the thumb points along the joint axis, and the four fingers point in the positive direction of motor rotation.

This position is the zero position of every joint.

Joint ranges

Unit: degrees	J1	J2	J3	J4	J5	J6	2023-gripper rad	2025-gripper rad
min	-150	0	0	-90	-90	-120	0	-3.4
max	180	210	180	90	90	120	5	0.1

End-effector frame

At the initial position the end-effector frame coincides with the reference frame, so both position and orientation are 0, as shown above.