RX200 (Trossen ReactorX-200)

The Trossen ReactorX-200 is a 5-DoF tabletop arm with two prismatic gripper fingers (left and right) under continuous position control. In our setup it is flush-mounted on a cafe_table (top at z = 0.78), with a head-mount Kinect v2 (or ZED 2 for extra sim variants) providing optional vision observations.

The RX200 is the framework’s reference robot. Three tasks are implemented (Reach, Push, PnP), each with standard + goal-conditioned variants, in both Gazebo simulation and on real hardware.

Tasks

Task	Env ids	Page
Reach	RX200ReacherSim-v0 / ...GoalSim-v0 / ...Real-v0 / ...GoalReal-v0 (+ RX200Zed2... sim variants)	RX200 — Reach
Push	RX200PushSim-v0 / ...GoalSim-v0 / ...Real-v0 / ...GoalReal-v0	RX200 — Push
PnP	RX200PnPSim-v0 / ...GoalSim-v0 / ...Real-v0 / ...GoalReal-v0	RX200 — Pick-and-Place

Robot-specific facts

Topic	Value
Arm joints (5)	waist, shoulder, elbow, wrist_angle, wrist_rotate
Gripper joints (2)	left_finger, right_finger (prismatic, continuous; right_finger = -left_finger when commanded)
Gripper open value (PnP)	gripper_max (≈ 0.037 m left-finger position)
Gripper closed value	gripper_min (≈ 0.015 m); grasp_finger_thresh = 0.020 — is_grasped triggers when left_finger_pos < grasp_finger_thresh
PnP joint-mode action dim	5 (arm) + 1 (gripper) = 6
Arm controller topic	/arm_controller/command (sim) / interbotix driver (real)
URDF link prefix	rx200/ on every link (sim + real)
End-effector link (FK)	rx200/ee_arm_link
Reference frame	rx200/base_link
MoveIt planning groups	interbotix_arm, interbotix_gripper
Sim sensor variants	Kinect v2 (default) or ZED 2 — selected by env-id prefix (RX200... vs RX200Zed2...). ZED variants exist for sim only.

Sim setup

• Description-extras package: reactorx200_description (URDF wrap, table model, controller config, Kinect mount).

• The env launches its own Gazebo via multiros.utils.gazebo_core, spawns the arm flush on the cafe-table at z = 0.78, and brings up Interbotix MoveIt under /rx200.

Real setup

• Bring up the Interbotix hardware driver (interbotix_xsarm_moveit_interface/launch/xsarm_moveit_interface.launch) with robot_model:=rx200 dof:=5 use_actual:=true.

• The env subscribes to /rx200/joint_states and publishes joint trajectories to /rx200/arm_controller/command.

• Push / PnP additionally subscribe to /cube_pose (geometry_msgs/PoseStamped); without an external publisher the env falls back to the YAML cube_init_pos and emits a throttled warning. See Quickstart for the rl_envs_cube_tracker AprilTag publisher.