CobotMagic

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.

CobotMagic with two V100 grippers, shown in an open-gripper display pose with both arm bases on the ground
CobotMagic · V100 grippers · 14 independent control DOFs

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.

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.

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#

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#

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#

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

  • Related URDF file paths (located in CobotMagicArm/):

    • CobotMagicWithGripperV70.urdf

    • CobotMagicWithGripperV100.urdf

    • CobotMagicNoGripper.urdf

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