ARX5 X5A with native parallel-jaw gripper
The standalone image uses the registered `ARX5` preset and its adjusted default
ready pose. Its OfflineRT, denoising, exposure and default environment lighting
match the existing UR and W1 robot illustrations. Source meshes, joint positions
and the original gripper are used.
:::{dropdown} Image rendering settings
1600 × 1080; 1 sample per pixel; DLSS offscreen reconstruction (quality 2);
tone mapping off; exposure 1.0; default environment emission intensity 80;
48 warmup frames. There are no additional direct lights. Zero-diffuse black
materials use the existing W1 V030 black display color (sRGB 46/255) and
roughness (0.408248) to retain readable shading. These material overrides apply
only to this illustration. Exact camera, lighting, material values and their
reference manifests are recorded in the
[render manifest](../../_static/robots/arx5_render.json).
:::
## Control and kinematics
It exposes six revolute joints (`joint1`–`joint6`) as `arm` and the two
independent prismatic fingers (`joint7`, `joint8`) as `eef`. The fingers
have no mimic relation; increasing their coordinates opens them.
| Control part | Source joints | Coordinates | Default command |
| --- | --- | --- | --- |
| `arm` | `joint1`–`joint6` | radians | Outward-elbow ready pose |
| `eef` | `joint7`, `joint8` | metres | `(0.044, 0.044)` opens; `(0.0, 0.0)` closes |
There are eight independent controlled joints. `init_qpos` follows source
order: the six arm joints, then the two fingers.
```python
from embodichain_robots import ARX5Cfg
cfg = ARX5Cfg.from_dict({})
robot = sim.add_robot(cfg=cfg)
```
The numerical Pytorch solver uses the `base_link` → `ee_link` serial chain.
Its separate tool transform aligns TCP X with jaw opening and TCP Z with
approach. `build_pk_serial_chain()` returns the flange chain; compose its FK
with `solver_cfg["arm"].tcp` to obtain tool poses. Both simulation and kinematics
resolve the same source asset. Configuration dictionaries round-trip through
`from_dict()` and `to_dict()`.
```python
from embodichain.robot_registry import resolve_robot_cfg
cfg = resolve_robot_cfg("ARX5")
restored = ARX5Cfg.from_dict(cfg.to_dict())
chains = restored.build_pk_serial_chain()
assert len(chains["arm"].get_joint_parameter_names()) == 6
```
An explicit `fpath` selects a local URDF for both simulation and kinematics.
Solver root/end-frame and TCP overrides follow the standard `RobotCfg`
configuration interface.
## Ready pose and physical defaults
The default fixed-base configuration enables self-collision and uses an
outward elbow with an unflipped wrist:
```text
arm: [-2.84, 1.825, 1.743, -1.489, 0.0, -1.266] rad
eef: [0.044, 0.044] m
```
The fixed base, ready pose, drive gains, velocity caps and tool frame are
simulation defaults, not manufacturer-verified hardware parameters. Source
arm limits are preserved; task-specific workspace and IK branch restrictions
belong to the caller's scene configuration.
## Preview and Atomic Skills tutorial
Select the exact catalog ID with `--robot ARX5`:
```bash
embodichain preview-robot --robot ARX5
embodichain preview-robot --robot ARX5 --headless --renderer no-render --device cpu --physics default --max-steps 100
```
The {ref}`Atomic Skills tutorial