MagiClaw is a versatile human-robot interactive manipulation system designed by Design and Learning Research Group (DLRG) at SUSTech.
MagiClaw consists of a motor-driven gripper, two meta-fingers, a Raspberry Pi 5, an iPhone, and several 3D-printed parts. There are two types of MagiClaws, including in-hand and on-robot types. For more details, please refer to the docs.
This repository mainly includes the code running on the Raspberry Pi 5. To set up MagiClaw, first clone the repository:
git clone https://github.com/asMagiClaw/magiclaw.git
cd magiclawIt's recommended to create a conda environment for this project, and install magiclaw using pip:
conda create -n magiclaw python=3.10
conda activate magiclaw
pip install -e .Before running MagiClaw, you need to modify the files in configs/ according to your setup. For more details, refer to the docs.
To run MagiClaw, use the following command:
run-magiclaw --id <id> --mode <mode> --loop_rate <loop_rate> --phone_host <phone_host> --bilateral_host <bilateral_host>For more details, refer to the docs.
We have comprehensive documentation available to help you get started and understand the features of MagiClaw. You can find it here.
This project is licensed under the MIT License. See the LICENSE file for details.
We welcome contributions to MagiClaw! If you have suggestions or improvements, please open an issue or submit a pull request.
For any questions or feedback, feel free to reach out to us via the GitHub Issues page.