ALOHA WidowX-250 6DOF

Overview

The ALOHA WidowX-250s 6DOF Robot Arm is a variant of the WidowX-250s 6DOF with improvements following those proposed in ALOHA 2.

See the WidowX-250 6DOF specifications page for more details.

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ALOHA WidowX-250 6DOF
Degrees of Freedom 6
Reach 650mm
Total Span 1300mm
Repeatability 1mm
Accuracy 5 - 8mm
Working Payload 250g*
Total Servos 9
Wrist Rotate Yes

Note

* Working Payload for the WidowX-250 6DOF is inside its maximum reach. If intending to use a 250g weight we recommend no more than a 50% extension of the arm.

Default Joint Limits

Default joint limits are the safe range of operation for each joint. These are set in the firmware, defined as degrees from Zero (servo centered).

Joint Min Max Servo ID(s)
Waist -180 180 1
Shoulder -108 114 2+3
Elbow -123 92 4+5
Forearm Roll -180 180 6
Wrist Angle -100 123 7
Wrist Rotate -180 180 8
Gripper 30mm 74mm 9

Default Servo Configurations

ID Joint Name Servo Baudrate
1 waist XM430-W350 1Mbps
2 shoulder XM430-W350 1Mbps
3 shoulder_shadow XM430-W350 1Mbps
4 elbow XM430-W350 1Mbps
5 elbow_shadow XM430-W350 1Mbps
6 forearm_roll XM430-W350 1Mbps
7 wrist_angle XM430-W350 1Mbps
8 wrist_rotate XM430-W350 1Mbps
9 gripper XC430-W150 1Mbps