# MagiClaw System

<figure><img src="/files/jO6pNKc7PWbhm5XrnHCs" alt=""><figcaption></figcaption></figure>

The MagiClaw system consists of multiple parts, including the in-hand and on-robot grippers,  the control box, and iPhone. Depending on different application scenarios, users can combine them. Here we present various combination forms in common scenarios.

## Human data collection

When users desire to collect human data with MagiCaw, the in-hand MagiCaw gripper is required instead of on-robot one. By utilizing the recording function within the MagiCaw App, all data is collected and stored on the iPhone. Subsequently, this data can be exported and transferred to the computer.

Real-time data visualization needs a router and a PC additionally, and the control box is connected to the PC through the router. This is not an essential requirement, but it is an option aimed at enhancing the user's interactive experience.

## Teleoperation

When users desire to use MagiCaw for teleoperation of robots (Franka, Unitree H1, etc.), in-hand and on-robot MagiClaw grippers are required to be used in pairs. The in-hand grippers are connected to one control box, while the on-robot grippers are connected to another one. Both of the control boxes are connected to a router for data streaming.

Controlling the robot usually requires a PC connecting to the router to receive the data from MagiClaw, such as pose, RGB-D image, and grasping force.

For virtual teleoperation environments, such as Robosuite and Isaac Lab, the physical robots are replaced by simulation so that only in-hand MagiClaw grippers are required.

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