PincherX 100

The PincherX 100 is a small 5-DOF robot arm. The arm can be controlled through ROS or directly through its python API.

• The arms are located in the back of the lab, in the cabinet labeled PincherX100

1. Install the Preliminaries
2. Install the Realsense Software
3. Install the Modern Robotics Library: sudo pip3 install modern_robotics

4. Create a ROS workspace to compile ROS packages from source:

   # Create the workspace
   mkdir -p ~/custom_ws/src
   cd ~/custom_ws/src
   
   # Clone the repositories
   git clone https://github.com/Interbotix/interbotix_ros_core.git
   git clone https://github.com/Interbotix/interbotix_ros_manipulators.git -b noetic
   git clone https://github.com/Interbotix/interbotix_ros_toolboxes.git
   
   # Remove some CATKIN_IGNORE files so we build these packages
   find . -name CATKIN_IGNORE | xargs rm
   
   # Install the udev rules for the arm
   sudo cp interbotix_ros_core/interbotix_ros_xseries/interbotix_xs_sdk/99-interbotix-udev.rules /etc/udev/rules.d
   sudo udevadm control --reload-rules
   sudo udevadm trigger
   
   # Install remaining depenencies and build the workspace
   rosdep install --from-paths src --ignore-src -r -y
   catkin_make
   

5. Source the workspace form your ~/.bashrc by adding source ~/custom_ws/devel/setup.bash to the end of that file.
   • Make sure this is after you source /opt/ros/noetic/setup.bash