Interbotix X-Series arms are made for education and research with support for ROS + ROS2 (Melodic, Noetic, & Galactic), Moveit, Gazebo and MATLAB® as well as demos and instructional videos to help get you up and running with your platform in under an hour. The X-Series offers a variety of different models to choose from with options in 4, 5, and 6 degrees of freedom and payloads from 50-750g. All of the X-Series arms operate on the same central open-source code repository. Perfect for the classroom, these platforms are ideal for applications such as vision-based pick & place, machine learning and artificial intelligence.
ROS + ROS2 packages for Melodic, Noetic, and Galactic on Ubuntu Linux 18.04 and 20.04 make it easy to get started with the arms. Packages include full meshes and URDFs (including accurate inertial models for the links), driver nodes that control the physical robot arm and publish joint states, as well as Gazebo and MoveIt support. Examples are also included to show users how the core packages work.
Out-of-the box visual demonstrations in Rviz allow new users experimentation with various planning algorithms around obstacles via motion planning, manipulation, 3D perception, kinematics, control and navigation.
Gazebo offers the ability to accurately and efficiently simulate populations of robots in complex indoor and outdoor environments.
MATLAB® combines a desktop environment tuned for iterative analysis and design processes with a programming language that expresses matrix and array mathematics directly.
In-depth documentation, tutorial videos and more!
Gazebo Simulation
Contains configuration files, launch files, and example worlds to simulate the X-Series arms in Gazebo. Also has position and trajectory controllers with tunable PID gains so that ROS can control the arms.
Joystick Control
Control any X-Series arm using a Bluetooth joystick controller. This package can be used to control the movements of any X-Series robotic arm using a SONY PS3/PS4 controller or Microsoft Xbox360 controller (untested) via Bluetooth.
Motion Planning
Contains the necessary config files to get any of the X-Series arms working with MoveIt, the standard motion planning framework for ROS. This package also provides interfaces to work with the arms in a Gazebo simulation.
Dual Arm Control
Enables the control of multiple X-Series arms using scripts. Configuration files are provided that allow for 2 or more arms to be controlled simultaneously using multithreading techniques.
Pipeline Configuration
Contains the necessary config and launch files to get any of the many Interbotix X-Series arms working with the perception pipeline, allowing for the arms to interact with depth cameras such as the RealSense D415.
MoveIt Interface
Contains a small API that allows a user to command desired end-effector poses to an Interbotix arm. Also has a modified version of the Move Group Python Interface Tutorial script for users to understand the basics of MoveIt Commander.
Arm Diagnostic Tool
Analyze the state of one joint or any number of joints over time while running through a script, or while playing back a ROS bag file. Visualize different parameters such as temperature, position, and effort over time.
PID Gains
A way to test 'pwm' or 'current' PID gains when operating the arm in either 'pwm' or 'current' mode. The package moves the robot through a series of poses as a way to test the effects of different gains and control modes.
Dual Arm Joystick
Control two X-Series arms using a single joystick controller. Builds on top of the Joystick and Dual Control packages and contains only configuration and launch files, an example of ROS's modularity.
Arm Puppeteering
Imagine that you have two (or more) Interbotix arms with the same number of joints. What the xsarm_puppet allows you to do is to manually manipulate one of the arms and watch as the motion is repeated in real time on the second robot.
Record and Playback
Untorque your arm and record manual movements to a ROS bag file. Play back the same motions as many times as you want.
Python Demos
Showcase of examples for the Interbotix Python Arm Module. We made Python wrappers for the X-Series arm that allow users to control their arm without writing a single line of ROS code Module.
High-performance networked actuators featuring fully integrated DC Motor + Reduction Gear + Controller and driver in a compact DC servo module. The X-Series actuators offer higher torque, more efficient heat dissipation and better durability all at a smaller form factor over previous DYNAMIXEL servos. The X-Series motors offer multiple feedback and control methods including PID Gain Control, Profile Control and Data Feedback.
The Interbotix vision kit is a quick and simple way to add vision processing to any of the Interbotix X-Series arms. Identify and sort objects by color, point cloud size or position. Use the manipulator to automate tasks based on visual input. Perfect for pick & place, AI and machine learning applications.
The X-Series gripper carriages are designed for users to quickly and easily change the gripper fingers for different projects. CAD files for the gripper are available for download. If you can design and 3D print, the customization is endless.
Videos designed to get users familiarized with important concepts quickly, demos and videos are available for: Gazebo simulation, Moveit motion planning and API, perception pipeline configuration, Python demos and more.
ViperX 300 Robot Arm 6DOF
Reach
750mm
Repeatability
1mm
Payload
750g
ViperX 300 Robot Arm
ViperX 250 Robot Arm
650mm
450g
WidowX 250 Robot Arm 6DOF
250g
WidowX 250 Robot Arm
WidowX 200 Robot Arm
550mm
200g
ReactorX 200 Robot Arm
2.5mm
150g
ReactorX 150 Robot Arm
450mm
100g
PincherX 150 Robot Arm
5mm
50g
PincherX 100 Robot Arm
300mm
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