Supported Robots

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.

Robot	Configuration class	Current coverage
Franka Panda	`FrankaPandaCfg`	Panda arm and gripper with numerical FK/IK.
UR family	`URRobotCfg`	UR3, UR3e, UR5, UR5e, UR10, and UR10e with analytic IK.
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.

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