diff --git a/aloha_ws/docker/script/xsarm_amd64_install.sh b/aloha_ws/docker/script/xsarm_amd64_install.sh
new file mode 100755
index 00000000..63d4204f
--- /dev/null
+++ b/aloha_ws/docker/script/xsarm_amd64_install.sh
@@ -0,0 +1,496 @@
+#!/usr/bin/env bash
+
+# USAGE: ./xsarm_amd64_install.sh [-h][-d DISTRO][-p PATH][-n]
+#
+# Install the Interbotix X-Series Arms packages and their dependencies.
+
+OFF='\033[0m'
+RED='\033[0;31m'
+GRN='\033[0;32m'
+BLU='\033[0;34m'
+
+BOLD=$(tput bold)
+NORM=$(tput sgr0)
+
+ERR="${RED}${BOLD}"
+RRE="${NORM}${OFF}"
+
+PROMPT="> "
+
+ALL_VALID_DISTROS=('melodic' 'noetic' 'galactic' 'humble' 'rolling')
+ROS1_VALID_DISTROS=('melodic' 'noetic')
+ROS2_VALID_DISTROS=('galactic' 'humble' 'rolling')
+
+BIONIC_VALID_DISTROS=('melodic')
+FOCAL_VALID_DISTROS=('noetic' 'galactic')
+JAMMY_VALID_DISTROS=('humble' 'rolling')
+
+NONINTERACTIVE=false
+DISTRO_SET_FROM_CL=false
+INSTALL_PATH=~/interbotix_ws
+APRILTAG_WS=~/apriltag_ws
+
+_usage="${BOLD}USAGE: ./xsarm_amd64_install.sh [-h][-d DISTRO][-p PATH][-n]${NORM}
+
+Install the Interbotix X-Series Arms packages and their dependencies.
+
+Options:
+
+  -h              Display this help message and quit
+
+  -d DISTRO       Install the DISTRO ROS distro compatible with your Ubuntu version. See
+                  'https://github.com/Interbotix/.github/blob/main/SECURITY.md' for the list of
+                  supported distributions. If not given, installs the ROS 1 distro compatible with
+                  your Ubuntu version, or the stable ROS 2 distro if using Ubuntu 22.04 or later.
+
+  -p PATH         Sets the absolute install location for the Interbotix workspace. If not specified,
+                  the Interbotix workspace directory will default to '~/interbotix_ws'.
+
+  -n              Install all packages and dependencies without prompting. This is useful if
+                  you're running this script in a non-interactive terminal like when building a
+                  Docker image.
+
+Examples:
+
+  ./xsarm_amd64_install.sh ${BOLD}-h${NORM}
+    This will display this help message and quit.
+
+  ./xsarm_amd64_install.sh
+    This will install just the ROS 1 distro compatible with your Ubuntu version, or the stable ROS 2
+    distro if using Ubuntu 22.04 or later. It will prompt you to ask if you want to install certain
+    packages and dependencies.
+
+  ./xsarm_amd64_install.sh ${BOLD}-d noetic${NORM}
+    This will install ROS 1 Noetic assuming that your Ubuntu version is compatible.
+
+  ./xsarm_amd64_install.sh ${BOLD}-n${NORM}
+    Skip prompts and install all packages and dependencies.
+
+  ./xsarm_amd64_install.sh ${BOLD}-d galactic${NORM}
+    Install ROS 2 Galactic assuming that your Ubuntu version is compatible.
+
+  ./xsarm_amd64_install.sh ${BOLD}-d galactic -n${NORM}
+    Install ROS 2 Galactic and all packages and dependencies.
+
+  ./xsarm_amd64_install.sh ${BOLD}-p ~/custom_ws${NORM}
+    Installs the Interbotix packages under the '~/custom_ws' path."
+
+function help() {
+  # print usage
+  cat << EOF
+$_usage
+EOF
+}
+
+# https://stackoverflow.com/a/8574392/16179107
+function contains_element () {
+  # check if an element is in an array
+  local e match="$1"
+  shift
+  for e; do [[ "$e" == "$match" ]] && return 0; done
+  return 1
+}
+
+function failed() {
+  # Log error and quit with a failed exit code
+  echo -e "${ERR}[ERROR] $1${RRE}"
+  echo -e "${ERR}[ERROR] Interbotix Installation Failed!${RRE}"
+  exit 1
+}
+
+function validate_distro() {
+  # check if chosen distro is valid and set ROS major version
+  if contains_element "$ROS_DISTRO_TO_INSTALL" "${ALL_VALID_DISTROS[@]}"; then
+    if contains_element "$ROS_DISTRO_TO_INSTALL" "${ROS1_VALID_DISTROS[@]}"; then
+      # Supported ROS 1 distros
+      ROS_VERSION_TO_INSTALL=1
+    elif contains_element "$ROS_DISTRO_TO_INSTALL" "${ROS2_VALID_DISTROS[@]}"; then
+      # Supported ROS 2 distros
+      ROS_VERSION_TO_INSTALL=2
+    else
+      # For cases where it passes the first check but somehow fails the second check
+      failed "Something went wrong. ROS_DISTRO_TO_INSTALL=$ROS_DISTRO_TO_INSTALL."
+    fi
+    echo -e "${GRN}${BOLD}Chosen Version: ROS ${ROS_VERSION_TO_INSTALL} $ROS_DISTRO_TO_INSTALL${NORM}${OFF}"
+    return 0
+  else
+    failed "'$ROS_DISTRO_TO_INSTALL' is not a valid ROS Distribution. Choose one of: '${ALL_VALID_DISTROS[*]}'"
+  fi
+}
+
+function check_ubuntu_version() {
+ # check if the chosen distribution is compatible with the Ubuntu version
+  case $UBUNTU_VERSION in
+
+    18.04 )
+      if contains_element "$ROS_DISTRO_TO_INSTALL" "${BIONIC_VALID_DISTROS[@]}"; then
+        PY_VERSION=2
+      else
+        failed "Chosen ROS distribution '$ROS_DISTRO_TO_INSTALL' is not supported on Ubuntu ${UBUNTU_VERSION}."
+      fi
+      ;;
+
+    20.04 )
+      if contains_element "$ROS_DISTRO_TO_INSTALL" "${FOCAL_VALID_DISTROS[@]}"; then
+        PY_VERSION=3
+      else
+        failed "Chosen ROS distribution '$ROS_DISTRO_TO_INSTALL' is not supported on Ubuntu ${UBUNTU_VERSION}."
+      fi
+      ;;
+
+    22.04 )
+      if contains_element "$ROS_DISTRO_TO_INSTALL" "${JAMMY_VALID_DISTROS[@]}"; then
+        PY_VERSION=3
+      else
+        failed "Chosen ROS distribution '$ROS_DISTRO_TO_INSTALL' is not supported on Ubuntu ${UBUNTU_VERSION}."
+      fi
+      ;;
+
+    *)
+      failed "Something went wrong. UBUNTU_VERSION='$UBUNTU_VERSION', should be 18.04, 20.04, or 22.04."
+      ;;
+
+  esac
+}
+
+function install_essential_packages() {
+  # Install necessary core packages
+  sudo apt-get install -yq curl git
+  if [ "$ROS_VERSION_TO_INSTALL" == 2 ]; then
+    sudo pip3 install transforms3d
+  fi
+  if [ $PY_VERSION == 2 ]; then
+    sudo apt-get install -yq python-pip
+    python -m pip install modern_robotics
+  elif [ $PY_VERSION == 3 ]; then
+    sudo apt-get install -yq python3-pip
+    python3 -m pip install modern_robotics
+  else
+    failed "Something went wrong. PY_VERSION='$PY_VERSION', should be 2 or 3."
+  fi
+}
+
+function install_ros1() {
+  # Install ROS 1
+  if [ "$(dpkg-query -W -f='${Status}' ros-"$ROS_DISTRO_TO_INSTALL"-desktop-full 2>/dev/null | grep -c "ok installed")" -eq 0 ]; then
+    echo -e "${GRN}Installing ROS 1 $ROS_DISTRO_TO_INSTALL desktop...${OFF}"
+    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+    sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+    sudo apt-get update
+    sudo apt-get install -yq ros-"$ROS_DISTRO_TO_INSTALL"-desktop-full
+    if [ -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
+      sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
+    fi
+    echo "source /opt/ros/$ROS_DISTRO_TO_INSTALL/setup.bash" >> ~/.bashrc
+    if [ $PY_VERSION == 2 ]; then
+      sudo apt-get install -yq          \
+        python-rosdep                   \
+        python-rosinstall               \
+        python-rosinstall-generator     \
+        python-wstool                   \
+        build-essential
+    elif [ $PY_VERSION == 3 ]; then
+      sudo apt-get install -yq          \
+        python3-rosdep                  \
+        python3-rosinstall              \
+        python3-rosinstall-generator    \
+        python3-wstool                  \
+        build-essential
+    fi
+    sudo rosdep init
+    rosdep update --include-eol-distros
+  else
+    echo "ros-$ROS_DISTRO_TO_INSTALL-desktop-full is already installed!"
+  fi
+  source /opt/ros/"$ROS_DISTRO_TO_INSTALL"/setup.bash
+
+  # Install Arm packages
+  if source /opt/ros/"$ROS_DISTRO_TO_INSTALL"/setup.bash 2>/dev/null && \
+     source "$INSTALL_PATH"/devel/setup.bash 2>/dev/null && \
+     rospack list | grep -q interbotix_;
+  then
+    echo "Interbotix Arm ROS packages already installed!"
+  else
+    cd "$INSTALL_PATH"/src
+    git clone -b "$ROS_DISTRO_TO_INSTALL" https://github.com/Interbotix/interbotix_ros_core.git
+    git clone -b "$ROS_DISTRO_TO_INSTALL" https://github.com/Interbotix/interbotix_ros_manipulators.git
+    git clone -b "$ROS_DISTRO_TO_INSTALL" https://github.com/Interbotix/interbotix_ros_toolboxes.git
+    rm                                                                                              \
+      interbotix_ros_core/interbotix_ros_xseries/CATKIN_IGNORE                                      \
+      interbotix_ros_manipulators/interbotix_ros_xsarms/CATKIN_IGNORE                               \
+      interbotix_ros_toolboxes/interbotix_xs_toolbox/CATKIN_IGNORE                                  \
+      interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface/CATKIN_IGNORE
+    if [ "$INSTALL_PERCEPTION" = true ]; then
+      rm                                                                                            \
+        interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_perception/CATKIN_IGNORE \
+        interbotix_ros_toolboxes/interbotix_perception_toolbox/CATKIN_IGNORE
+    fi
+    if [ "$INSTALL_MATLAB" = true ]; then
+      cd interbotix_ros_toolboxes
+      git submodule update --init third_party_libraries/ModernRobotics
+      cd "$INSTALL_PATH/src"
+    fi
+    cd interbotix_ros_core/interbotix_ros_xseries/interbotix_xs_sdk
+    sudo cp 99-interbotix-udev.rules /etc/udev/rules.d/
+    sudo udevadm control --reload-rules && sudo udevadm trigger
+    cd "$INSTALL_PATH"
+    rosdep install --from-paths src --ignore-src -r -y
+    catkin_make
+    if catkin_make; then
+      echo -e "${GRN}${BOLD}Interbotix Arm ROS Packages built successfully!${NORM}${OFF}"
+      echo "source $INSTALL_PATH/devel/setup.bash" >> ~/.bashrc
+      source "$INSTALL_PATH"/devel/setup.bash
+    else
+      failed "Failed to build Interbotix Arm ROS Packages."
+    fi
+  fi
+}
+
+function install_ros2() {
+  # Install ROS 2
+  if [ "$(dpkg-query -W -f='${Status}' ros-"$ROS_DISTRO_TO_INSTALL"-desktop 2>/dev/null | grep -c "ok installed")" -eq 0 ]; then
+    echo -e "${GRN}Installing ROS 2 $ROS_DISTRO_TO_INSTALL desktop...${OFF}"
+    sudo apt-get install -yq      \
+      software-properties-common  \
+      gnupg
+    sudo add-apt-repository -y universe
+    sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo "$UBUNTU_CODENAME") main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+    sudo apt-get update
+    sudo apt-get install -yq ros-"$ROS_DISTRO_TO_INSTALL"-desktop
+    echo "source /opt/ros/$ROS_DISTRO_TO_INSTALL/setup.bash" >> ~/.bashrc
+  else
+    echo "ros-$ROS_DISTRO_TO_INSTALL-desktop-full is already installed!"
+  fi
+  source /opt/ros/"$ROS_DISTRO_TO_INSTALL"/setup.bash
+
+  # Install rosdep and other necessary tools
+  sudo apt-get install -yq            \
+    python3-rosdep                    \
+    python3-rosinstall                \
+    python3-rosinstall-generator      \
+    python3-wstool                    \
+    build-essential                   \
+    python3-colcon-common-extensions
+
+  # Remove sources if they exist
+  if [ -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
+    sudo rm /etc/ros/rosdep/sources.list.d/20-default.list
+  fi
+
+  # Initialize rosdep sources
+  sudo rosdep init
+
+  # Update local rosdep database, including EoL distros
+  rosdep update --include-eol-distros
+
+  if [ "$INSTALL_PERCEPTION" = true ]; then
+    # Install apriltag ROS Wrapper, no official Apriltag ROS 2 package yet
+    if source /opt/ros/"$ROS_DISTRO_TO_INSTALL"/setup.bash 2>/dev/null && \
+      source "$APRILTAG_WS"/install/setup.bash 2>/dev/null && \
+      ros2 pkg list | grep -q apriltag_ros;
+    then
+      echo "Apriltag ROS Wrapper already installed!"
+    else
+      echo -e "${GRN}Installing Apriltag ROS Wrapper...${OFF}"
+      mkdir -p "$APRILTAG_WS"/src
+      cd "$APRILTAG_WS"/src
+      git clone -b ros2-port https://github.com/Interbotix/apriltag_ros.git
+      cd "$APRILTAG_WS"
+      rosdep install --from-paths src --ignore-src -r -y
+      # cmake-args flags disables warnings as errors unrelated to ROS
+      if colcon build --cmake-args -DCMAKE_CXX_FLAGS="-w"; then
+        echo -e "${GRN}${BOLD}Apriltag ROS Wrapper built successfully!${NORM}${OFF}"
+        echo "source $APRILTAG_WS/install/setup.bash" >> ~/.bashrc
+        source $APRILTAG_WS/install/setup.bash
+      else
+        failed "Failed to build Apriltag ROS Wrapper."
+      fi
+    fi
+  fi
+
+  # Install Arm packages
+  if source /opt/ros/"$ROS_DISTRO_TO_INSTALL"/setup.bash 2>/dev/null && \
+     source "$INSTALL_PATH"/install/setup.bash 2>/dev/null && \
+     ros2 pkg list | grep -q interbotix_;
+  then
+    echo "Interbotix Arm ROS 2 packages already installed!"
+  else
+    echo -e "${GRN}Installing ROS 2 packages for the Interbotix Arm...${OFF}"
+    cd "$INSTALL_PATH"/src
+    git clone -b "$ROS_DISTRO_TO_INSTALL" https://github.com/Interbotix/interbotix_ros_core.git
+    git clone -b "$ROS_DISTRO_TO_INSTALL" https://github.com/Interbotix/interbotix_ros_manipulators.git
+    git clone -b "$ROS_DISTRO_TO_INSTALL" https://github.com/Interbotix/interbotix_ros_toolboxes.git
+    # TODO(lsinterbotix) remove below when moveit_visual_tools is available in apt repo
+    git clone -b ros2 https://github.com/ros-planning/moveit_visual_tools.git
+    if [ "$INSTALL_PERCEPTION" = true ]; then
+      rm                                                                                                \
+        interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_perception/COLCON_IGNORE     \
+        interbotix_ros_toolboxes/interbotix_perception_toolbox/COLCON_IGNORE
+    fi
+    rm                                                                                                  \
+      interbotix_ros_core/interbotix_ros_xseries/COLCON_IGNORE                                          \
+      interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface/COLCON_IGNORE      \
+      interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface_msgs/COLCON_IGNORE
+    cd interbotix_ros_core
+    git submodule update --init interbotix_ros_xseries/dynamixel_workbench_toolbox
+    git submodule update --init interbotix_ros_xseries/interbotix_xs_driver
+    cd "$INSTALL_PATH"/src
+    if [ "$INSTALL_MATLAB" = true ]; then
+      cd interbotix_ros_toolboxes
+      git submodule update --init third_party_libraries/ModernRobotics
+      cd "$INSTALL_PATH"/src
+    fi
+    cd interbotix_ros_core/interbotix_ros_xseries/interbotix_xs_sdk
+    sudo cp 99-interbotix-udev.rules /etc/udev/rules.d/
+    sudo udevadm control --reload-rules && sudo udevadm trigger
+    cd "$INSTALL_PATH"
+    rosdep install --from-paths src --ignore-src -r -y
+    if colcon build; then
+      echo -e "${GRN}${BOLD}Interbotix Arm ROS 2 Packages built successfully!${NORM}${OFF}"
+      echo "source $INSTALL_PATH/install/setup.bash" >> ~/.bashrc
+      source "$INSTALL_PATH"/install/setup.bash
+    else
+      failed "Failed to build Interbotix Arm ROS 2 Packages."
+    fi
+  fi
+}
+
+function setup_env_vars() {
+  # Set up Environment Variables
+  if [ -z "$ROS_IP" ]; then
+    echo -e "${GRN}Setting up Environment Variables...${OFF}"
+    echo "# Interbotix Configurations" >> ~/.bashrc
+    echo 'export ROS_IP=$(echo `hostname -I | cut -d" " -f1`)' >> ~/.bashrc
+    echo -e 'if [ -z "$ROS_IP" ]; then\n\texport ROS_IP=127.0.0.1\nfi' >> ~/.bashrc
+  else
+    echo "Environment variables already set!"
+  fi
+}
+
+# parse command line arguments
+while getopts 'hnd:p:' OPTION;
+do
+  case "$OPTION" in
+    h) help && exit 0;;
+    n) NONINTERACTIVE=true;;
+    d) ROS_DISTRO_TO_INSTALL="$OPTARG" && DISTRO_SET_FROM_CL=true;;
+    p) INSTALL_PATH="$OPTARG";;
+    *) echo "Unknown argument $OPTION" && help && exit 0;;
+  esac
+done
+
+shift "$((OPTIND -1))"
+
+if ! command -v lsb_release &> /dev/null; then
+  sudo apt-get update
+  sudo apt-get install -yq lsb-release
+fi
+
+UBUNTU_VERSION="$(lsb_release -rs)"
+
+# set default ROS distro before reading clargs
+if [ "$DISTRO_SET_FROM_CL" = false ]; then
+  if [ "$UBUNTU_VERSION" == "18.04" ]; then
+    ROS_DISTRO_TO_INSTALL="melodic"
+  elif [ "$UBUNTU_VERSION" == "20.04" ]; then
+    ROS_DISTRO_TO_INSTALL="noetic"
+  elif [ "$UBUNTU_VERSION" == "22.04" ]; then
+    ROS_DISTRO_TO_INSTALL="humble"
+  else
+    echo -e "${BOLD}${RED}Unsupported Ubuntu version: $UBUNTU_VERSION.${NORM}${OFF}"
+    failed "Interbotix Arm only works with Ubuntu 18.04 Bionic, 20.04 Focal, or 22.04 Jammy on your hardware."
+  fi
+fi
+
+validate_distro
+check_ubuntu_version
+
+if [ "$NONINTERACTIVE" = false ]; then
+  # prompt for perception packages
+  echo -e "${BLU}${BOLD}Install the Interbotix Perception packages? This will include the RealSense and AprilTag packages as dependencies.\n$PROMPT${NORM}${OFF}\c"
+  read -r resp
+  if [[ $resp == [yY] || $resp == [yY][eE][sS] ]]; then
+    INSTALL_PERCEPTION=true
+  else
+    INSTALL_PERCEPTION=false
+  fi
+
+  echo -e "${BLU}${BOLD}Install the MATLAB-ROS API?\n$PROMPT${NORM}${OFF}\c"
+  read -r resp
+  if [[ $resp == [yY] || $resp == [yY][eE][sS] ]]; then
+    INSTALL_MATLAB=true
+  else
+    INSTALL_MATLAB=false
+  fi
+
+  if [[ "$ROS_DISTRO_TO_INSTALL" == 'rolling' ]]; then
+    echo -e "${BLU}${BOLD}ROS 2 Rolling is not officially supported and full functionality is not guaranteed. Do you wish to continue anyways?\n$PROMPT${NORM}${OFF}\c"
+    read -r resp
+    if [[ $resp == [yY] || $resp == [yY][eE][sS] ]]; then
+      :
+    else
+      help && exit 0
+    fi
+  fi
+
+  echo -e "${BLU}${BOLD}INSTALLATION SUMMARY:"
+  echo -e "\tROS Distribution:           ROS ${ROS_VERSION_TO_INSTALL} ${ROS_DISTRO_TO_INSTALL}"
+  echo -e "\tInstall Perception Modules: ${INSTALL_PERCEPTION}"
+  echo -e "\tInstall MATLAB Modules:     ${INSTALL_MATLAB}"
+  echo -e "\tInstallation path:          ${INSTALL_PATH}"
+  echo -e "\nIs this correct?\n${PROMPT}${NORM}${OFF}\c"
+  read -r resp
+
+  if [[ $resp == [yY] || $resp == [yY][eE][sS] ]]; then
+    :
+  else
+    help && exit 0
+  fi
+else
+  INSTALL_PERCEPTION=true
+  INSTALL_MATLAB=true
+fi
+
+echo -e "\n\n"
+echo -e "${GRN}${BOLD}**********************************************${NORM}${OFF}"
+echo ""
+echo -e "${GRN}${BOLD}            Starting installation!            ${NORM}${OFF}"
+echo -e "${GRN}${BOLD}   This process may take around 15 Minutes!   ${NORM}${OFF}"
+echo ""
+echo -e "${GRN}${BOLD}**********************************************${NORM}${OFF}"
+echo -e "\n\n"
+
+sleep 4
+start_time="$(date -u +%s)"
+
+echo -e "\n# Interbotix Configurations" >> ~/.bashrc
+
+# Update the system
+sudo apt-get update && sudo apt-get -y upgrade
+sudo apt-get -y autoremove
+
+install_essential_packages
+
+mkdir -p "$INSTALL_PATH"/src
+
+shopt -s extglob
+
+if [[ $ROS_VERSION_TO_INSTALL == 1 ]]; then
+  install_ros1
+elif [[ $ROS_VERSION_TO_INSTALL == 2 ]]; then
+  install_ros2
+else
+  failed "Something went wrong."
+fi
+
+setup_env_vars
+
+shopt -u extglob
+
+end_time="$(date -u +%s)"
+elapsed="$((end_time-start_time))"
+
+echo -e "${GRN}Installation complete, took $elapsed seconds in total.${OFF}"
+echo -e "${GRN}NOTE: Remember to reboot the computer before using the robot!${OFF}"