CobotMagic

CobotMagic#

CobotMagic is a versatile dual-arm collaborative robot developed by AgileX Robotics. It is widely used in simulation, education, industry, and service scenarios. All examples in this document are based on the latest PourWater task environment.

CobotMagic

CobotMagic

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

  • High degree of freedom: 16 axes (dual arms + grippers, each gripper includes 1 mimic joint)

  • 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)

Gripper models

V70 / V100

Layout types

NORMAL (standard) / FACE_TO_FACE / CUSTOM

Initial base height

0.7775m (adjustable)

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.lab.sim.robots import CobotMagicCfg

config = SimulationManagerCfg(headless=False, sim_device="cpu")
sim = SimulationManager(config)
sim.build_multiple_arenas(2)  # Supports parallel simulation in multiple arenas
sim.set_manual_update(False)

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

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

  • drive_pros: Joint drive properties (stiffness, damping, max effort, etc.)

  • attrs: Rigid body physical attributes (mass, friction, damping, etc.)

2. Custom Usage Example#

from embodichain.lab.sim.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": ["LEFT_JOINT1", ..., "LEFT_JOINT6"],
    "left_eef": ["LEFT_JOINT7", "LEFT_JOINT8"],
    "right_arm": ["RIGHT_JOINT1", ..., "RIGHT_JOINT6"],
    "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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