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LimX SDK Usage Guide

1. Set Up Development Environment

For algorithm developers, we recommend setting up a ROS Noetic-based development environment on Ubuntu 20.04. ROS provides a suite of tools and libraries—such as core libraries, communication frameworks, and simulation tools like Gazebo—which greatly simplify the development, testing, and deployment of robot algorithms. These resources offer a rich and comprehensive environment for algorithm development.

Of course, even without ROS, you can still develop your motion control algorithm in other environments. The motion control SDK we provide is dependency-free, based on standard C++11 and Python, and supports cross-platform and cross-OS development, offering developers greater flexibility.

To install ROS Noetic, please refer to the official documentation:
👉 https://wiki.ros.org/noetic/Installation/Ubuntu
Select ros-noetic-desktop-full for installation.

Once ROS Noetic is installed, run the following shell command in a terminal to install the required dependencies:

sudo apt-get update
sudo apt install ros-noetic-urdf \
                 ros-noetic-kdl-parser \
                 ros-noetic-urdf-parser-plugin \
                 ros-noetic-hardware-interface \
                 ros-noetic-controller-manager \
                 ros-noetic-controller-interface \
                 ros-noetic-controller-manager-msgs \
                 ros-noetic-control-msgs \
                 ros-noetic-ros-control \
                 ros-noetic-gazebo-* \
                 ros-noetic-rqt-gui \
                 ros-noetic-rqt-controller-manager \
                 ros-noetic-plotjuggler* \
                 cmake build-essential libpcl-dev libeigen3-dev libopencv-dev libmatio-dev \
                 python3-pip libboost-all-dev libtbb-dev liburdfdom-dev liborocos-kdl-dev -y

2. Create Workspace

Follow the steps below to create an algorithm development workspace:

Step 1: Open a terminal

Step 2: Create a new workspace directory

mkdir -p ~/limx_ws/src

Step 3: Clone required repositories

Clone the motion control SDK:

cd ~/limx_ws/src
git clone https://github.com/limxdynamics/limxsdk-lowlevel.git

Clone Gazebo simulator plugins:

cd ~/limx_ws/src
git clone https://github.com/limxdynamics/pointfoot-gazebo-ros.git

Clone robot model description files:

cd ~/limx_ws/src
git clone https://github.com/limxdynamics/robot-description.git

Clone visualization debugging tools:

cd ~/limx_ws/src
git clone https://github.com/limxdynamics/robot-visualization.git

Step 4: Compile the workspace

cd ~/limx_ws
catkin_make install

3. Python Motion Control SDK

3.1 Overview

We provide a Python interface with the same functionality as the C++ SDK. This allows developers unfamiliar with C++ to write motion control algorithms in Python. Python’s simplicity, clear syntax, and rich third-party ecosystem enable developers to get started quickly and iterate faster.

With the Python interface, developers can benefit from:

• Rapid prototyping and testing
• Cross-platform support
• Easy integration of reinforcement learning (RL) models into both simulation and real hardware environments

This flexibility accelerates algorithm development and deployment.

3.2 Install Python SDK

Please install the appropriate .whl file depending on your platform:

On Linux x86_64:

pip install python3/amd64/limxsdk-*-py3-none-any.whl

On Linux aarch64:

pip install python3/aarch64/limxsdk-*-py3-none-any.whl

On Windows:

pip install python3/win/limxsdk-*-py3-none-any.whl

3.3 Python Example

You can refer to the example Python script here:
👉 Example Code on GitHub