Supported Robots

EmbodiChain provides configuration classes for the robot families and composed layouts below. Each page documents construction, control parts, kinematics, and the currently supported variants.

Run embodichain list-robot to discover installed families, variants, independent control DOFs, default control parts, and mimic followers without loading simulation or downloading assets. See List Robots for the command reference and Robot Catalog for variant selection.

Robot	Configuration class	Current coverage
ARX5 X5A	ARX5Cfg	Six-joint arm with two independent parallel fingers and numerical IK.
Franka Panda	FrankaPandaCfg	Panda arm with the Panda hand or a DH PGI gripper, with numerical FK/IK.
UR family	URRobotCfg	UR3, UR3e, UR5, UR5e, UR10, and UR10e with analytic IK.
Flexiv Rizon 4S	FlexivRizon4SCfg	Seven-axis bare arm with numerical IK and published Flexiv simulation dynamics.
Dexforce W1	DexforceW1Cfg	Dual 7-DOF arms, versioned assets, and configurable hands/grippers.
CobotMagic	CobotMagicCfg	Fixed-base dual arms and grippers for bimanual tasks.
Dual-arm composition	DualArmRobotCfg	Registry-based composition of compatible single-arm configs in multiple layouts.
Aloha Mini 2 Pro	AlohaMiniCfg	Mobile dual-arm platform with torso, arms, and grippers.
Tianji Marvin	TianjiMarvinCfg	Dual 7-DOF arms with optional parallel-jaw grippers.
SO101 Follower	SO101FollowerCfg	Five-axis follower arm and actuated jaw with official simulation dynamics.

To add another model, follow Adding a New Robot and include its page in this catalog and toctree.