# CobotMagic

CobotMagic is a fixed-base dual-arm robot from AgileX Robotics. EmbodiChain's
default preset combines two 6-DOF arms with V100 parallel grippers.

<figure style="text-align: center; margin: 20px auto; max-width: 960px;">
  <img src="../../../_static/robots/cobotmagic.jpg" alt="CobotMagic with two V100 grippers, shown in an open-gripper display pose with both arm bases on the ground" width="1600" height="1080" style="display: block; width: 100%; height: auto;"/>
  <figcaption><b>CobotMagic · V100 grippers · 14 independent control DOFs</b></figcaption>
</figure>

The image uses the registered `CobotMagic` preset, its default parallel arm
mounts and a display pose with open grippers. It is rendered with
`RenderCfg(renderer="rt")` (OfflineRT) and three soft area lights to reveal
the dark grippers and joint housings. The illustrated bases are at ground
level; task deployments configure their mounting height through `init_pos`.

:::{dropdown} Image rendering settings
1600 × 1080; 1 sample per pixel; DLSS offscreen reconstruction (quality 2);
tone mapping off; exposure 1.0. The default ground and environment emission
are supplemented by neutral key, fill and rim rectangular lights. Exact
camera, lighting and joint settings are recorded in the
[render manifest](../../../_static/robots/cobotmagic_render.json).
:::

## Key Features

- **Dual-arm parallel structure** supporting multiple layouts (standard, face-to-face, custom)
- **Configurable gripper models** (V70/V100) and material types (NORMAL/NEW_UV/NO_MATERIAL)
- **Flexible URDF assembly** and simulation parameter configuration
- **Compatible with SimulationManager**, supporting multi-arena parallel simulation
- **Control DOF**: 14 independent joints across 16 arm/gripper joints, including two mimic followers
- **Customizable control groups** for flexible task decomposition and extension

---

## Robot Parameters

| Parameter             | Description                                                      |
|-----------------------|------------------------------------------------------------------|
| Number of joints      | 16 (dual arms + grippers, each gripper includes a mimic joint)   |
| Independent control DOF | 14 (six arm joints and one gripper command per side) |
| Gripper models        | V70 / V100                                                       |
| Layout types          | NORMAL (standard) / FACE_TO_FACE / CUSTOM                        |
| Example mounting height | 0.7775 m in the reusable CobotMagic embodiment; adjustable through `init_pos` |
| Mobile base support   | **Not supported** in the current version (fixed base only)        |

> **Note:** The current version of CobotMagic does **not** support a mobile base. All examples and environments assume a fixed base configuration.

---

## Quick Initialization Example

```python
from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
from embodichain_robots import CobotMagicCfg

config = SimulationManagerCfg(headless=False, device="cpu", num_envs=2)
sim = SimulationManager(config)

robot = sim.add_robot(cfg=CobotMagicCfg().from_dict({}))

# Explicitly advance physics when the application is ready.
sim.update(step=1)
```

---

## Configuration Parameters

### 1. Main Configuration Items

- **uid**: Unique identifier for the robot, default is "CobotMagic"
- **urdf_cfg**: URDF configuration, supports multi-component assembly (e.g., dual arms)
- **control_parts**: Control groups for independent control of each arm and gripper
- **solver_cfg**: Inverse kinematics solver configuration, customizable end-effector and base
- **joint_drive_props**: Joint drive properties (stiffness, damping, max effort, etc.)
- **attrs**: Rigid body physical attributes (mass, friction, damping, etc.)

### 2. Custom Usage Example

```python
from embodichain_robots import CobotMagicCfg

custom_cfg = {
    "init_pos": [0.0, 0.0, 1.0],  # Initial position
    # Add more custom parameters as needed
}
cfg = CobotMagicCfg.from_dict(custom_cfg)
robot = sim.add_robot(cfg=cfg)
```

### 3. Control Group Example

```python
control_parts = {
    "left_arm": [f"left_joint{i}" for i in range(1, 7)],
    "left_eef": ["left_joint7", "left_joint8"],
    "right_arm": [f"right_joint{i}" for i in range(1, 7)],
    "right_eef": ["right_joint7", "right_joint8"],
}
```


## References

- [AgileX CobotMagic Product Page](https://global.agilex.ai/products/cobot-magic)
- Related URDF file paths (located in `CobotMagicArm/`):
  - `CobotMagicWithGripperV70.urdf`
  - `CobotMagicWithGripperV100.urdf`
  - `CobotMagicNoGripper.urdf`