VX300S (Trossen ViperX-300 S)

The Trossen ViperX-300 S is a 6-DoF tabletop arm — larger and longer-reach than its RX200 sibling (≈ 750 mm vs 550 mm) with the same two-prismatic-finger gripper under continuous position control. Flush-mounted on the same cafe-table the RX200 uses; head-mount Kinect v2 in sim.

Tasks

Task	Env ids	Page
Reach	VX300SReacherSim-v0 / ...GoalSim-v0 / ...Real-v0 / ...GoalReal-v0	VX300S — Reach
Push	VX300SPushSim-v0 / ...GoalSim-v0 / ...Real-v0 / ...GoalReal-v0	VX300S — Push
PnP	VX300SPnPSim-v0 / ...GoalSim-v0 / ...Real-v0 / ...GoalReal-v0	VX300S — Pick-and-Place

Robot-specific facts

Topic	Value
Arm joints (6)	waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate
Gripper joints (2)	left_finger, right_finger (prismatic, continuous; wider stroke than RX200 — left ∈ [0.021, 0.057], right ∈ [-0.057, -0.021])
Gripper open value (PnP)	gripper_max (≈ 0.057 m left-finger position)
Gripper closed value	gripper_min (≈ 0.021 m); grasp_finger_thresh = 0.024
PnP joint-mode action dim	6 (arm) + 1 (gripper) = 7
Arm controller topic	/vx300s/arm_controller/command (sim) / interbotix driver (real)
URDF link prefix	vx300s/ on every link (sim + real)
End-effector link (FK)	vx300s/ee_gripper_link
Reference frame	vx300s/base_link
MoveIt planning groups	interbotix_arm, interbotix_gripper
Goal x_min	0.20 (bumped from 0.15 — VX300S near-base dead-zone shifts further out than RX200’s)

Sim setup

• Description-extras package: viperx300s_description (URDF wrap, table + cube models, Kinect mount, controller config).

• The env launches Gazebo with the cafe-table at x = 0.2 and the arm flush at z = 0.78. Interbotix MoveIt under /vx300s with dof:=6.

Real setup

• Bring up the Interbotix hardware driver (xsarm_moveit_interface.launch) with robot_model:=vx300s dof:=6 use_actual:=true.

• Same /cube_pose fallback contract as RX200 / NED2 for push / pnp.