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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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 |
