D'Kitty is platform introduced by project-ROBEL (RObotics BEnchmarks for Learning) for studying and benchmarking locomotion. It is a twelve degree of freedom quadruped capable of agile locomotion. It consists of four identical legs mounted symmetrically on a square base. The feet are simple 3d printed parts with rubber ends. D'Kitty is symmetric along all three axes and can also walk normally when upside down.   The Assembled version of the D'Kitty platform ships completely assembled with the servos ID'ed, it is ready out of the box. The kit version of the D'Kitty contains the Robotis parts necessary for the build, you will have to supply the 3D printed / Laser cut parts. Walking in clutter A Sim2Real policy trained via Natural Policy Gradient on MuJoCo simulation with randomized perturbations learns to walk in clutter and step over objects Walking through obstacles A Sim2Real policy trained via Natural Policy Gradient on MuJoCo simulation with randomized perturbations learns to walk in clutter and step over objects Gravel & branches A Sim2Real policy trained via Natural Policy Gradient on MuJoCo simulation with randomized height field learns to walk outdoors over gravel and branches Slope & grass A Sim2Real policy trained via Natural Policy Gradient on MuJoCo simulation with randomized height field learns to handle moderate slopes     Avoid Moving Obstacles Policy trained via Hierarchical Sim2Real learns to avoid a moving block and reach the target (marked by the controller on the floor) Push to Moving Goal Policy trained via Hierarchical Sim2Real learns to push block towards a moving target (marked by the controller in the hand) Co-ordinate Policy trained via Hierarchical Sim2Real learns to coordinate tow D'Kitties to push a heavy block towards a target (marked by two + signs on the floor)   Includes: DYNAMIXEL XM430-W210-R x 12 DYNAMIXEL U2D2 x 1 6 Port RX/EX Power Hub x 1 HN12-I101 Set x 12 FR12-H103GM Set x 12 FR12-S102k Set x 9 Turbo Lock Nuts & Bolts for assembly Please Note: D'Kitty will require additional 3D printed / laser cut pieces to assemble, for more information please refer to the D'Kitty Parts and Assembly Files

The LoCoBot is an ROS research rover for mapping, navigation and manipulation (optional) that enables researchers, educators and students alike to focus on high level code development instead of hardware and building out lower level code. Development on the LoCoBot is simplified with opensource software, full ROS-mapping and navigation packages and modular opensource Python API that allows users to move the platform as well as manipulator in as few as 10 lines of code.   The rover is built on the Yujin Robot Kobuki Base (YMR-K01-W1) and powered by the Intel NUC NUC8i3BEH Core i3 w/ 8gig of ram and 240g HD. An Intel® RealSense™ Depth Camera D435 sits atop an independently controlled pan / tilt mechanism (2XL430-W250-T) at the top of the platform which allows mapping and scanning. The (optional) 360 degree LIDAR can further improve both mapping and scanning for more advanced projects. There are 3 different robot arms that can be added to the LoCoBot platform, offering 4, 5 and 6 degree of freedom options. All of the arms are based off of the X-Series servos from Robotis Co., specifically the XM430-W350-T and XL430-W250- which offer easy hardware setup, available software API’s and other ‘smart servo’ benefits.Interbotix products are aimed at getting users up and developing on ROS as quickly as possible, which is why we've designed our platforms to ROS ready in under an hour. The robot comes pre-assembled with only minimal hardware setup and software is loaded with a few terminal commands allowing for ROS development in under an hour from receiving the LoCoBot.   Software: Fully Configured Navigation Stack simultaneously localize and map out its environment (SLAM), generating a new map in the process, localize itself in a pre-generated map, create a 3D point cloud representation of its surroundings (viewable in Rviz), develop local and global costmaps to be used for obstacle avoidance and path planning in real time (viewable in Rviz), automatically move the base to follow the planned route, move to a desired spot specified by a mouse-click on a virtual map in Rviz Rviz Visualization Environment Get familiar with your LoCoBot platform by visualizing a model of it in Rviz. Using Rviz, you can also see sensor data, monitor your LoCoBot’s progress as it navigates or does perception, and view maps. This can be done on the LoCoBot itself or from a remote computer via ROS networking. Fully Configured Perception Pipeline - With the onboard Intel RealSense D435 camera and robotic arm, your LoCoBot can; find the transform to multiple small objects within the camera’s field of view, pick up a slew of objects in a specified order (based on distance), sort objects based on color / point cloud size / or their respective positions, allow for a researcher to dynamically tune various point cloud filter parameters using an intuitive graphical user interface. MoveIt Support - Abstract away motion planning, inverse kinematics, and collision checking by using MoveIt to manipulate the arm on your LoCoBot. Our custom Moveit package is already fully integrated to be used with ROS Control on both the physical and Gazebo simulated robots. It can also be simulated in Rviz using MoveIt’s Fake Controller Manager plugin. MoveIt Move Group Interface Demos - See how to use MoveIt’s Move Group Python or C++ interfaces with the arm on your LoCoBot. Pose the arm’s end-effector using a custom graphical user interface built on the Move Group’s C++ API. Or launch an interactive tutorial that moves the arm to different poses based on the Move Group’s Python API. Hardware: Kobuki YMR-K01-W1 - The Kobuki platform is a low-cost mobile research base designed for education and research on state of art robotics. With continuous operation in mind, Kobuki provides power supplies for an external computer as well as additional sensors and actuators. Its highly accurate odometry and calibrated gyroscope enables extremely precise navigation. Intel NUC NUC8i3BEH Mini PC - 8th Gen Intel Dual-Core i3, 8GB DDR4 Ram, 240GB Solid State Drive (SSD), Intel Iris Plus Graphics 655, Wifi, Bluetooth 5.0, Gigabit Ethernet, 4k Support, Card Reader, Dual monitor Capable, HDMI, USB, Thunderbolt 3, Ubuntu 20.04. Intel® RealSense™ Depth Camera D435 - is part of the Intel® RealSense™ D400 series of cameras, a lineup that takes Intel’s latest depth sensing hardware and software packages them into easy to integrate products. Perfect for developers, makers, and innovators looking to bring depth sensing to devices, Intel® RealSense™ D400 series cameras offer simple out of the box integration and enable a whole new generation of intelligent vision equipped devices. Pan & Tilt - The DYNAMIXEL 2XL can control two axis with a single module, which serves as the pan & tilt for the camera of the LoCoBot. This servo allows for scanning or object detection whether the platform is in motion or stationary. The 2XL series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure and Metal gear (Powder Metallurgy) is used for high durability. PincherX 100 Robot Arm - The PincherX 100 is a 4 degree of freedom manipulator with a maximum reach of 300mm and a working payload of 50g. The PincherX 100 is built using the DYNAMIXEL X Series servos from Robotis which feature high resolution (4096 positions), user definable PID parameters, temperature and positional feedback and much more. Packages: RPLIDAR A2M8 360° Laser Range Scanner (Optional) The RPLIDAR A2 is an indoor, 360 degree 2D LIDAR. Each RPLIDAR A2 can take up to 8000 samples of laser ranging per second thanks to its high rotation speed. The on-board system can perform 2D 360° scans within a range of 12 meters (18m with a bit of firmware adjustment). Additionally, the generated 2D point cloud data can be used in mapping, localization and object/environment modeling. Specfications: LoCoBot Base: WEIGHT - TBD PAYLOAD (KOBUKI)  -  2kg OPERATING TIME  -  90 Mins HEIGHT   -  63cm WIDTH   -  35cm LENGTH  -  35cm PinCherx 100 ARM: DEGREES OF FREEDOM   -  4 REACH  -  300mm SPAN  -  600mm REPEATABILITY  -  5mm WORKING PAYLOAD  -  50g WEIGHT  -  1.7lbs 1.7lbs​​ Drawings: Documents: Documentation Github MESH / STL Files URDF Troubleshooting STEP File Technical Dr

The LoCoBot is an ROS research rover for mapping, navigation and manipulation (optional) that enables researchers, educators and students alike to focus on high level code development instead of hardware and building out lower level code. Development on the LoCoBot is simplified with opensource software, full ROS-mapping and navigation packages and modular opensource Python API that allows users to move the platform as well as manipulator in as few as 10 lines of code.     The rover is built on the Create 3 from iRobot and powered by the Intel NUC NUC8i3BEH Core i3 w/ 8gig of ram and 240g HD. An Intel® RealSense™ Depth Camera D435 sits atop an independently controlled pan / tilt mechanism (2XL430-W250-T) at the top of the platform which allows mapping and scanning. The (optional) 360 degree LIDAR can further improve both mapping and scanning for more advanced projects. There are 3 different robot arms that can be added to the LoCoBot platform, offering 4, 5 and 6 degree of freedom options. All of the arms are based off of the X-Series servos from Robotis Co., specifically the XM430-W350-T and XL430-W250- which offer easy hardware setup, available software API’s and other ‘smart servo’ benefits. Interbotix products are aimed at getting users up and developing on ROS as quickly as possible, which is why we've designed our platforms to ROS ready in under an hour. The robot comes pre-assembled with only minimal hardware setup and software is loaded with a few terminal commands allowing for ROS development in under an hour from receiving the LoCoBot.                 SOFTWARE FEATURES   Models     LoCoBot WX250s LoCoBot WX200 LoCoBot PX100 LoCoBot Base Dimensions 350L x 340W x 657H mm 350L x 340W x 601H mm 350L x 340W x 601H mm 350L x 340W x 601H mm Weight 23lbs 23lbs 19.5lbs 18lbs Operating Time 90min 90min 90min 90min Software ROS / ROS 2 ROS / ROS 2 ROS / ROS 2 ROS / ROS 2 Base iRobot Create® 3 iRobot Create® 3 iRobot Create® 3 iRobot Create® 3 Camera Intel D435 Intel D435 Intel D435 Intel D435 LiDAR RPLIDAR A2M8 360° RPLIDAR A2M8 360° RPLIDAR A2M8 360° RPLIDAR A2M8 360° Computer 8th Gen Intel Dual-Core i3 (or better) 8th Gen Intel Dual-Core i3 (or better) 8th Gen Intel Dual-Core i3 (or better) 8th Gen Intel Dual-Core i3 (or better) RAM 8G DDR4 8G DDR4 8G DDR4 8G DDR4 HD 240GB SSD 240GB SSD 240GB SSD 240GB SSD Manipulator Mobile WX250s Mobile WX200 Mobile PX100 N/A Arm Degrees of Freedom 6 5 4 N/A Payload (Arm) 250g 200g 50g N/A Reach (Arm) 680mm 550mm 300mm N/A Links SpecificationsShop Models SpecificationsShop Models SpecificationsShop Models SpecificationsShop Models   SOFTWARE Fully Configured Navigation Stack simultaneously localize and map out its environment (SLAM), generating a new map in the process, localize itself in a pre-generated map, create a 3D point cloud representation of its surroundings (viewable in Rviz), develop local and global costmaps to be used for obstacle avoidance and path planning in real time (viewable in Rviz), automatically move the base to follow the planned route, move to a desired spot specified by a mouse-click on a virtual map in Rviz Rviz Visualization Environment Get familiar with your LoCoBot platform by visualizing a model of it in Rviz. Using Rviz, you can also see sensor data, monitor your LoCoBot’s progress as it navigates or does perception, and view maps. This can be done on the LoCoBot itself or from a remote computer via ROS networking. Fully Configured Perception Pipeline - With the onboard Intel RealSense D435 camera and robotic arm, your LoCoBot can; find the transform to multiple small objects within the camera’s field of view, pick up a slew of objects in a specified order (based on distance), sort objects based on color / point cloud size / or their respective positions, allow for a researcher to dynamically tune various point cloud filter parameters using an intuitive graphical user interface. MoveIt Support - Abstract away motion planning, inverse kinematics, and collision checking by using MoveIt to manipulate the arm on your LoCoBot. Our custom Moveit package is already fully integrated to be used with ROS Control on both the physical and Gazebo simulated robots. It can also be simulated in Rviz using MoveIt’s Fake Controller Manager plugin. MoveIt Move Group Interface Demos - See how to use MoveIt’s Move Group Python or C++ interfaces with the arm on your LoCoBot. Pose the arm’s end-effector using a custom graphical user interface built on the Move Group’s C++ API. Or launch an interactive tutorial that moves the arm to different poses based on the Move Group’s Python API.   HARDWARE Create 3 from iRobot - Welcome to the next generation of iRobot’s affordable, trusted, all-in-one mobile robot development platform. Grasp the fundamentals of robotics, computer science, and engineering by programming the Create® 3 to perform simple behaviors, sounds, and movements, or tap into advanced applications including multi-robot exploration, navigation & mapping, and telepresence capabilities. Intel NUC NUC8i3BEH Mini PC - 8th Gen Intel Dual-Core i3, 8GB DDR4 Ram, 240GB Solid State Drive (SSD), Intel Iris Plus Graphics 655, Wifi, Bluetooth 5.0, Gigabit Ethernet, 4k Support, Card Reader, Dual monitor Capable, HDMI, USB, Thunderbolt 3, Ubuntu 20.04. Intel® RealSense™ Depth Camera D435 - is part of the Intel® RealSense™ D400 series of cameras, a lineup that takes Intel’s latest depth sensing hardware and software packages them into easy to integrate products. Perfect for developers, makers, and innovators looking to bring depth sensing to devices, Intel® RealSense™ D400 series cameras offer simple out of the box integration and enable a whole new generation of intelligent vision equipped devices. Pan & Tilt - The DYNAMIXEL 2XL can control two axis with a single module, which serves as the pan & tilt for the camera of the LoCoBot. This servo allows for scanning or object detection whether the platform is in motion or stationary. The 2XL series adopts new features that allow 360 degrees control mode with its contactless magnetic encoder and hollow back case assembly structure and Metal gear (Powder Metallurgy) is used for high durability. WidowX Robot Arm - The WidowX 250 is a 6 degree of freedom manipulator with a maximum reach of 650mm and a working payload of 250g. The WidowX 250 is built using the DYNAMIXEL X Series servos from Robotis which feature high resolution (4096 positions), user definable PID parameters, temperature and positional feedback and much more.               PACKAGES RPLIDAR A2M8 360° Laser Range Scanner (Optional) - The RPLIDAR A2 is an indoor, 360 degree 2D LIDAR. Each RPLIDAR A2 can take up to 8000 samples of laser ranging per second thanks to its high rotation speed. The on-board system can perform 2D 360° scans within a range of 12 meters (18m with a bit of firmware adjustment). Additionally, the generated 2D point cloud data can be used in mapping, localization and object/environment modeling. ROS1 - ROS1 is an open-source ecosystem of libraries, tools, and communication frameworks for robotics development. While originally designed for use in academic environments, its purpose has expanded to include a much broader range of industrial and commercial applications. ROS 1 has been the primary version of ROS since its first release in 2007 and has more packages, tools, and documentation available, though its planned end of life is in May of 2025. The Interbotix X-Series LoCoBot was originally designed with this version of ROS in mind and has a few more demo packages included in its distribution. It's mobile base, the iRobot Create® 3, natively uses ROS 2 and requires a software bridge to enable communication which places some limitations on its usage. ROS2 - ROS2 keeps much of the core functionality of ROS 1 and significantly improves on several critical aspects including real-time communication, security, and network performance as it was designed from the ground up with industrial applications in mind. While much newer than ROS 1, it is quickly catching up in both popularity and package availability. The Interbotix X-Series LoCoBot is new to ROS 2 and may not be as mature as the ROS 1 version, though much of the same functionality exists. The ability for the LoCoBot to communicate directly with its ROS 2 native mobile base is an advantage this version of the platform has over the ROS 1 version.       SPECIFICATIONS   LOCOBOT BASE PAYLOAD (CREATE 3) - 2kg WIDOWX 250 6DOF SPAN - 1360mm REPEATABILITY - 1mm WORKNG PAYLOAD - 250g WEIGHT - 9.5 lbs   DRAWINGS         DOCUMENTATION   Documentation Github MESH / STL Files URDF Troubleshooting   STEP File Technical Drawing          

The ViperX 300-6DOF Robot Arm is made for education and research with support for ROS (Melodic & Noetic), 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 ViperX 300-6DOF offers 6 degrees of freedom and a payload capacity of 750g. The XSeries arms operate on the same central open-source code repository making it easy to transfer concepts from one platform to another. Perfect for the classroom, the ViperX 300-6DOF is ideal for applications such as vision-based pick & place, machine learning and artificial intelligence. The ViperX 300 6DOF comes fully assembled and tested and is constructed from extremely rigid 20mm x 40mm extruded aluminum and aluminum brackets. The arm sits on an industrial grade slewing bearing for added stability and accuracy. The electronics are covered with a transparent acrylic shield to keep the electronics free from debris as well as with impact from the arm itself. Includes:7 XM540-W270 servomotors2 XM430-W350-T servomotors1 Dynamixel U2D2 controller1 CM9.04c controller1 12 V 10 A power supply1 micro USB2 cableViperX 300 parts and equipmentAdditional foam and rubber for the gripperDrivers and additional hardwareMounting material for the base Specification :- Model Nº ViperX 300 6 DOF Weight 4.3 Kg Voltage 12v5a Horizontal reach 82cm Load capacity 750 g Reach 164 cm DOF 6 Documentation:ViperX 300 Arm Getting Started GuideTechnical diagram of the ViperX 300 Interbotix armFirmware (Alpha)3D Elements  Dynamixel Servomotor Manuals:XM540-W270 Manual XM430-W350 Manual Dynamixel SDK OpenCM E-Manual OpenCM IDE

The WidowX 250-6DOF Robot Arm is made for education and research with support for ROS (Melodic & Noetic), 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 WidowX 250 6DOF offers 6 degrees of freedom and a payload capacity of 250g. The XSeries arms operate on the same central open-source code repository making it easy to transfer concepts from one platform to another. Perfect for the classroom, the WidowX 250 6DOF is ideal for applications such as vision-based pick & place, machine learning and artificial intelligence.The WidowX 250 6DOF comes fully assembled and tested and is constructed from extremely rigid 20mm x 20mm extruded aluminum and aluminum construction. The arm sits on an industrial grade,slewing bearing for added stability and accuracy. The electronics are covered with a transparent acrylic shield to keep the electronics free from debris as well as with impact from the arm itself. 9 Dynamixel servomotors for a 100% programmable and ultra-precise arm.If this robotic arm amazes us with its high precision of movement, it is because it is equipped with 9 Dynamixel servomotors from the XM and XL series. These latest-generation servos designed by Robotis feature high-performance torque, a solid and intelligent design, and above all, extensive programming possibilities according to your needs. The high resolution of these servomotors allows this flexibility of movement that you will appreciate when using your mobile arm, project after project. Technical specifications of the WidowX 250 6-axis Robotic Arm:-Degrees of freedom: 6Range: 650 mmTotal span: 1300 mmAccuracy: 1 mmUseful load: 250 gTotal number of servomotors: 9Rotating wrist: yes Included:7 XM430-W350-T servomotors2 XL430-W250-T servomotors1 Dynamixel U2D2 controller1 CM9.04c controller1 12 V 10 A power supply1 micro USB2 cableWidowX 250 parts and equipmentExtra foam and rubber for the gripperDrivers and additional hardwareMounting material for the baseWidowX 250 6 DOF robotic arm resources :- Find all the free resources of the WidowX 250 6-axis robotic arm :WidowX 250 arm getting started guide (en)Technical diagram of the WidowX 250 Interbotix arm (en)ROS - Interbotix arm (en)Firmware (Alpha) (en)3D Elements (en) Dynamixel Servomotor Manuals:XL430-W250 Manual (en)XM430-W350 Manual (en)Dynamixel SDK (en)OpenCM E-Manual (en)OpenCM IDE(en)