diff --git a/src/ac_training_lab/xarm5_minimal_example.py b/src/ac_training_lab/xarm5_minimal_example.py
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+"""Minimal example for controlling UFACTORY xArm5 from Raspberry Pi 5.
+
+This script demonstrates basic programmatic control of the xArm5 robotic arm.
+
+Installation:
+    pip install xarm-python-sdk
+
+Usage:
+    python xarm5_minimal_example.py
+"""
+
+from xarm.wrapper import XArmAPI
+
+# Configuration
+XARM_IP = "192.168.1.100"  # Replace with your xArm5 IP address
+
+
+def main():
+    """Minimal example of xArm5 control."""
+    # Connect to xArm5
+    arm = XArmAPI(XARM_IP)
+
+    # Enable motion
+    arm.motion_enable(enable=True)
+    arm.set_mode(0)  # Position control mode
+    arm.set_state(0)  # Ready state
+
+    # Move to home position
+    arm.move_gohome(wait=True)
+
+    # Move to a position (x, y, z in mm, angles in degrees)
+    arm.set_position(x=300, y=0, z=200, roll=180, pitch=0, yaw=0, speed=100, wait=True)
+
+    # Disconnect
+    arm.disconnect()
+
+
+if __name__ == "__main__":
+    main()