diff --git a/src/examples/vx300.cpp b/src/examples/vx300.cpp
new file mode 100644
index 00000000..0c158567
--- /dev/null
+++ b/src/examples/vx300.cpp
@@ -0,0 +1,39 @@
+#include <robot_dart/control/pd_control.hpp>
+#include <robot_dart/robot_dart_simu.hpp>
+#include <robot_dart/robots/vx300.hpp>
+
+#ifdef GRAPHIC
+#include <robot_dart/gui/magnum/graphics.hpp>
+#endif
+
+int main()
+{
+    auto robot = std::make_shared<robot_dart::robots::Vx300>();
+    robot->set_actuator_types("servo");
+
+    Eigen::VectorXd ctrl = robot_dart::make_vector({0.0, 1.0, -1.5, 1.0, 0.5, 0.});
+
+    auto controller = std::make_shared<robot_dart::control::PDControl>(ctrl);
+    robot->add_controller(controller);
+
+    robot_dart::RobotDARTSimu simu;
+    simu.set_collision_detector("fcl");
+#ifdef GRAPHIC
+    simu.set_graphics(std::make_shared<robot_dart::gui::magnum::Graphics>());
+#endif
+    simu.add_robot(robot);
+    simu.add_checkerboard_floor();
+
+    for (auto& n : robot->dof_names()) {
+        std::cout << n << std::endl;
+    }
+
+    simu.run(2.5);
+
+    ctrl << 0.0, -0.5, 0.5, -0.5, 0., 1.;
+    controller->set_parameters(ctrl);
+    controller->set_pd(20., 0.);
+    simu.run(2.5);
+
+    return 0;
+}
diff --git a/src/python/robot.cpp b/src/python/robot.cpp
index 33f1f65c..a25a6083 100644
--- a/src/python/robot.cpp
+++ b/src/python/robot.cpp
@@ -16,6 +16,7 @@
 #include <robot_dart/robots/talos.hpp>
 #include <robot_dart/robots/tiago.hpp>
 #include <robot_dart/robots/ur3e.hpp>
+#include <robot_dart/robots/vx300.hpp>
 
 #include <robot_dart/control/robot_control.hpp>
 
@@ -598,6 +599,11 @@ namespace robot_dart {
                     py::arg("frequency") = 1000,
                     py::arg("urdf") = "ur3e/ur3e_with_schunk_hand.urdf",
                     py::arg("packages") = std::vector<std::pair<std::string, std::string>>({{"ur3e_description", "ur3e/ur3e_description"}}));
+
+            py::class_<Vx300, Robot, std::shared_ptr<Vx300>>(m, "Vx300")
+                .def(py::init<const std::string&, const std::vector<std::pair<std::string, std::string>>&>(),
+                    py::arg("urdf") = "vx300/vx300.urdf",
+                    py::arg("packages") = std::vector<std::pair<std::string, std::string>>({{"interbotix_xsarm_descriptions", "vx300"}}));
         }
     } // namespace python
 } // namespace robot_dart
diff --git a/src/robot_dart/robots/vx300.hpp b/src/robot_dart/robots/vx300.hpp
new file mode 100644
index 00000000..0b427de5
--- /dev/null
+++ b/src/robot_dart/robots/vx300.hpp
@@ -0,0 +1,19 @@
+#ifndef ROBOT_DART_ROBOTS_VX300_HPP
+#define ROBOT_DART_ROBOTS_VX300_HPP
+
+#include "robot_dart/robot.hpp"
+
+namespace robot_dart {
+    namespace robots {
+        class Vx300 : public Robot {
+        public:
+            Vx300(const std::string& urdf = "vx300/vx300.urdf", const std::vector<std::pair<std::string, std::string>>& packages = {{"interbotix_xsarm_descriptions", "vx300"}}) : Robot(urdf, packages)
+            {
+                fix_to_world();
+                set_position_enforced(true);
+                set_color_mode("aspect");
+            }
+        };
+    } // namespace robots
+} // namespace robot_dart
+#endif
diff --git a/utheque/vx300/vx300.urdf b/utheque/vx300/vx300.urdf
new file mode 100644
index 00000000..6d7325f7
--- /dev/null
+++ b/utheque/vx300/vx300.urdf
@@ -0,0 +1,322 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from urdf/vx300.urdf.xacro          | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="vx300">
+  <material name="interbotix_black">
+    <texture filename="package://interbotix_xsarm_descriptions/interbotix_black.png"/>
+  </material>
+  <link name="vx300/base_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_1_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="interbotix_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_1_base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.0534774000 -0.0005625750 0.0205961000"/>
+      <mass value="0.969034"/>
+      <inertia ixx="0.0060240000" ixy="0.0000471300" ixz="0.0000038510" iyy="0.0017000000" iyz="-0.0000841500" izz="0.0071620000"/>
+    </inertial>
+  </link>
+  <joint name="waist" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-3.141582653589793" upper="3.141582653589793" velocity="3.141592653589793"/>
+    <origin rpy="0 0 0" xyz="0 0 0.079"/>
+    <parent link="vx300/base_link"/>
+    <child link="vx300/shoulder_link"/>
+    <dynamics friction="0.1"/>
+  </joint>
+  <link name="vx300/shoulder_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 -0.003"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_2_shoulder.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="interbotix_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 -0.003"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_2_shoulder.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.0002592330 -0.0000033552 0.0116129000"/>
+      <mass value="0.798614"/>
+      <inertia ixx="0.0009388000" ixy="-0.0000000010" ixz="-0.0000000191" iyy="0.0011380000" iyz="0.0000059568" izz="0.0012010000"/>
+    </inertial>
+  </link>
+  <joint name="shoulder" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="20" lower="-1.8500490071139892" upper="1.2566370614359172" velocity="3.141592653589793"/>
+    <origin rpy="0 0 0" xyz="0 0 0.04805"/>
+    <parent link="vx300/shoulder_link"/>
+    <child link="vx300/upper_arm_link"/>
+    <dynamics friction="0.1"/>
+  </joint>
+  <link name="vx300/upper_arm_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_3_upper_arm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="interbotix_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_3_upper_arm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.0206949000 0.0000000004 0.2264590000"/>
+      <mass value="0.792592"/>
+      <inertia ixx="0.0089250000" ixy="0.0000000000" ixz="0.0000000000" iyy="0.0089370000" iyz="0.0012010000" izz="0.0009357000"/>
+    </inertial>
+  </link>
+  <joint name="elbow" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="15" lower="-1.7627825445142729" upper="1.6057029118347832" velocity="3.141592653589793"/>
+    <origin rpy="0 0 0" xyz="0.05955 0 0.3"/>
+    <parent link="vx300/upper_arm_link"/>
+    <child link="vx300/forearm_link"/>
+    <dynamics friction="0.1"/>
+  </joint>
+  <link name="vx300/forearm_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_4_forearm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="interbotix_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_4_forearm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.1812650000 -0.0002065037 0.0000000000"/>
+      <mass value="0.544659"/>
+      <inertia ixx="0.0054470000" ixy="-0.0000119800" ixz="0.0000000000" iyy="0.0002267000" iyz="0.0000000000" izz="0.0055740000"/>
+    </inertial>
+  </link>
+  <joint name="wrist_angle" type="revolute">
+    <axis xyz="0 1 0"/>
+    <limit effort="5" lower="-1.8675022996339325" upper="2.234021442552742" velocity="3.141592653589793"/>
+    <origin rpy="0 0 0" xyz="0.3 0 0"/>
+    <parent link="vx300/forearm_link"/>
+    <child link="vx300/wrist_link"/>
+    <dynamics friction="0.1"/>
+  </joint>
+  <link name="vx300/wrist_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_5_wrist.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="interbotix_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_5_wrist.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.0467430000 -0.0000076652 0.0105650000"/>
+      <mass value="0.115395"/>
+      <inertia ixx="0.0000463100" ixy="0.0000000195" ixz="0.0000000023" iyy="0.0000451400" iyz="0.0000042002" izz="0.0000527000"/>
+    </inertial>
+  </link>
+  <joint name="wrist_rotate" type="revolute">
+    <axis xyz="1 0 0"/>
+    <limit effort="1" lower="-3.141582653589793" upper="3.141582653589793" velocity="3.141592653589793"/>
+    <origin rpy="0 0 0" xyz="0.069744 0 0"/>
+    <parent link="vx300/wrist_link"/>
+    <child link="vx300/gripper_link"/>
+    <dynamics friction="0.1"/>
+  </joint>
+  <link name="vx300/gripper_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.02 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_6_gripper.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="interbotix_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.02 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_6_gripper.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.0230010000 0.0000000000 0.0115230000"/>
+      <mass value="0.097666"/>
+      <inertia ixx="0.0000326800" ixy="0.0000000000" ixz="0.0000000000" iyy="0.0000243600" iyz="0.0000002785" izz="0.0000211900"/>
+    </inertial>
+  </link>
+  <joint name="ee_arm" type="fixed">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.042825 0 0"/>
+    <parent link="vx300/gripper_link"/>
+    <child link="vx300/ee_arm_link"/>
+  </joint>
+  <link name="vx300/ee_arm_link">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- <joint name="gripper" type="continuous"> -->
+  <joint name="gripper" type="fixed">
+    <axis xyz="1 0 0"/>
+    <!-- <limit effort="1" velocity="3.141592653589793"/> -->
+    <origin rpy="0 0 0" xyz="0.005675 0 0"/>
+    <parent link="vx300/ee_arm_link"/>
+    <child link="vx300/gripper_prop_link"/>
+    <!-- <dynamics friction="0.1"/> -->
+  </joint>
+  <link name="vx300/gripper_prop_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.0685 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_7_gripper_prop.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="interbotix_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.0685 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_7_gripper_prop.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.0023780000 0.0000000285 0.0000000000"/>
+      <mass value="0.008009"/>
+      <inertia ixx="0.0000020386" ixy="0.0000000000" ixz="0.0000006559" iyy="0.0000042979" iyz="0.0000000000" izz="0.0000023796"/>
+    </inertial>
+  </link>
+  <!-- If the AR tag is being used, then add the AR tag mount -->
+  <!-- If the gripper bar is being used, then also add the gripper bar -->
+  <joint name="gripper_bar" type="fixed">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="vx300/ee_arm_link"/>
+    <child link="vx300/gripper_bar_link"/>
+  </joint>
+  <link name="vx300/gripper_bar_link">
+    <visual>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.063 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_8_gripper_bar.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="interbotix_black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 1.5707963267948966" xyz="-0.063 0 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_8_gripper_bar.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 1.5707963267948966" xyz="0.0067940000 -0.0000004272 -0.0007760000"/>
+      <mass value="0.150986"/>
+      <inertia ixx="0.0000789500" ixy="-0.0000000012" ixz="0.0000001341" iyy="0.0003283000" iyz="0.0000017465" izz="0.0003095000"/>
+    </inertial>
+  </link>
+  <joint name="ee_bar" type="fixed">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.025875 0 0"/>
+    <parent link="vx300/gripper_bar_link"/>
+    <child link="vx300/fingers_link"/>
+  </joint>
+  <link name="vx300/fingers_link">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+  <!-- If the gripper fingers are being used, add those as well -->
+  <joint name="left_finger" type="prismatic">
+    <axis xyz="0 1 0"/>
+    <limit effort="5" lower="0.021" upper="0.057" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="vx300/fingers_link"/>
+    <child link="vx300/left_finger_link"/>
+    <dynamics friction="0.1"/>
+  </joint>
+  <link name="vx300/left_finger_link">
+    <visual>
+      <origin rpy="1.5707963267948966 -3.141592653589793 1.5707963267948966" xyz="-0.0404 -0.0575 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_9_gripper_finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="interbotix_black"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 -3.141592653589793 1.5707963267948966" xyz="-0.0404 -0.0575 0"/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_9_gripper_finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="3.141592653589793 3.141592653589793 1.5707963267948966" xyz="0.0173440000 -0.0060692000 0.0000000000"/>
+      <mass value="0.034796"/>
+      <inertia ixx="0.0000243300" ixy="-0.0000024004" ixz="0.0000000000" iyy="0.0000125500" iyz="0.0000000000" izz="0.0000141700"/>
+    </inertial>
+  </link>
+  <joint name="right_finger" type="prismatic">
+    <axis xyz="0 1 0"/>
+    <limit effort="5" lower="-0.057" upper="-0.021" velocity="1"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="vx300/fingers_link"/>
+    <child link="vx300/right_finger_link"/>
+    <dynamics friction="0.1"/>
+    <mimic joint="left_finger" multiplier="-1" offset="0"/>
+  </joint>
+  <link name="vx300/right_finger_link">
+    <visual>
+      <origin rpy="-1.5707963267948966 3.141592653589793 -1.5707963267948966" xyz="-0.0404 0.0575 0 "/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_9_gripper_finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="interbotix_black"/>
+    </visual>
+    <collision>
+      <origin rpy="-1.5707963267948966 3.141592653589793 -1.5707963267948966" xyz="-0.0404 0.0575 0 "/>
+      <geometry>
+        <mesh filename="package://interbotix_xsarm_descriptions/vx300_meshes/vx300_9_gripper_finger.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 3.141592653589793 1.5707963267948966" xyz="0.0173440000 0.0060692000  0.0000000000"/>
+      <mass value="0.034796"/>
+      <inertia ixx="0.0000243300" ixy="0.0000024001" ixz="0.0000000000" iyy="0.0000125500" iyz="0.0000000000" izz="0.0000141700"/>
+    </inertial>
+  </link>
+  <joint name="ee_gripper" type="fixed">
+    <axis xyz="1 0 0"/>
+    <origin rpy="0 0 0" xyz="0.0385 0 0"/>
+    <parent link="vx300/fingers_link"/>
+    <child link="vx300/ee_gripper_link"/>
+  </joint>
+  <link name="vx300/ee_gripper_link">
+    <inertial>
+      <mass value="0.001"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+  </link>
+</robot>
+
diff --git a/utheque/vx300/vx300_meshes/vx300_10_ar_tag.stl b/utheque/vx300/vx300_meshes/vx300_10_ar_tag.stl
new file mode 100644
index 00000000..193014b6
Binary files /dev/null and b/utheque/vx300/vx300_meshes/vx300_10_ar_tag.stl differ
diff --git a/utheque/vx300/vx300_meshes/vx300_1_base.stl b/utheque/vx300/vx300_meshes/vx300_1_base.stl
new file mode 100644
index 00000000..5a7efda2
Binary files /dev/null and b/utheque/vx300/vx300_meshes/vx300_1_base.stl differ
diff --git a/utheque/vx300/vx300_meshes/vx300_2_shoulder.stl b/utheque/vx300/vx300_meshes/vx300_2_shoulder.stl
new file mode 100644
index 00000000..dc22aa7e
Binary files /dev/null and b/utheque/vx300/vx300_meshes/vx300_2_shoulder.stl differ
diff --git a/utheque/vx300/vx300_meshes/vx300_3_upper_arm.stl b/utheque/vx300/vx300_meshes/vx300_3_upper_arm.stl
new file mode 100644
index 00000000..111c586e
Binary files /dev/null and b/utheque/vx300/vx300_meshes/vx300_3_upper_arm.stl differ
diff --git a/utheque/vx300/vx300_meshes/vx300_4_forearm.stl b/utheque/vx300/vx300_meshes/vx300_4_forearm.stl
new file mode 100644
index 00000000..cbdc35cf
Binary files /dev/null and b/utheque/vx300/vx300_meshes/vx300_4_forearm.stl differ
diff --git a/utheque/vx300/vx300_meshes/vx300_5_wrist.stl b/utheque/vx300/vx300_meshes/vx300_5_wrist.stl
new file mode 100644
index 00000000..ab8423e9
Binary files /dev/null and b/utheque/vx300/vx300_meshes/vx300_5_wrist.stl differ
diff --git a/utheque/vx300/vx300_meshes/vx300_6_gripper.stl b/utheque/vx300/vx300_meshes/vx300_6_gripper.stl
new file mode 100644
index 00000000..043db9ca
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diff --git a/utheque/vx300/vx300_meshes/vx300_7_gripper_prop.stl b/utheque/vx300/vx300_meshes/vx300_7_gripper_prop.stl
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index 00000000..36099b42
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diff --git a/utheque/vx300/vx300_meshes/vx300_8_gripper_bar.stl b/utheque/vx300/vx300_meshes/vx300_8_gripper_bar.stl
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index 00000000..eba3caa2
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diff --git a/utheque/vx300/vx300_meshes/vx300_9_gripper_finger.stl b/utheque/vx300/vx300_meshes/vx300_9_gripper_finger.stl
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index 00000000..d6df86be
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