Quickstart
INFO
Complete the Installation and Assembly section first before starting following steps.
Connect Devices
We take dual-arm teleoperation as example to show how to connect all devices. Here is an overview of the devices.
Connect Control Box to Local Network and Power Supply
The control box can be connected to a local network (router), especially for data visualization and teleoperation. Since the WiFi chip is in AP mode, the only way is Ethernet.
The power input of the control box is 24V 5A, through an XT30 port, for which you need to prepare a suitable DC power supply and a possible adapter.
Connect Metafinger to Control Box
Each gripper has two Metafingers, and you need to connect both of them to the control box through WiFi.
Step 1. Connect the Metafinger dev board to your PC via USB 2.0 Type-C cable.
Step 2. Launch the dev board via SSH:
# SSH by IP
ssh root@<ip address>
# SSH by hostname
ssh root@<hostname>.localwhere root is the default user name, <ip address> is the IP address of the dev board which can be found on the connected PC, and <hostname> is the hostname can be found in the dev board.
Step 3. Modify WiFi settings of the dev board:
python /root/wifi_connect.py --ssid <ssid> --pwd <pwd>where <ssid> should be the hostname (e.g., rpi-xxxx) of the control box, and <pwd> is 12345678. After running successfully, the dev board can connect to the control box via WiFi, and you can disconnect the dev board to your PC.
Connect Gripper to Control Box
Grippers should be connected to the control box through XT30 2+2 cables. The control box has two XT30 2+2 ports so that two grippers can be connected for dual-arm applications. The interface to which the gripper is connected determines its ID. For example, if the gripper is connected to CAN0, its ID is 0.
Connect iPhone to Control Box
Each gripper is installed with an iPhone, and you should connect the iPhone to the control box through WiFi, where the corresponding gripper and its Metafingers are also connected.
Step 1. Open iPhone, and go to Settings -> Wi-Fi.
Step 2. Turn on Wi-Fi, and tap the name of the control box.
Step 3. Open asMagic app, and
Run MagiClaw
Run via app
Step 1. Set control box's hostname:
The recommended way to control the MagiClaw is through the asMagic app. First, open asMagic app, go to 'Settings', then enter MagiClaw's control box's hostname. Please follow the format: hostname.local.
For gripper connected to control box's 'can-0', set port as 6300.
For gripper connected to control box's 'can-1', set port as 6400.
Step 2. Run the gripper:
Each iPhone controls one corresponding gripper.
Go to 'Data Streaming' on the 'Panel' page.
Tap 'Cmd RPi' on the bottom.
Then, you can start gripper by clicking
Start MagiClaw.The gripper will open and please wait for the initialization fully completed before next actions.
For each iPhone, you need to modify the id of the corresponding gripper carefully to avoid command errors.
To stop the gripper, just click Stop.
Run via CLI
Another way to run MagiClaw is to run the following command on the control box's command line:
run-magiclaw --id <id> --mode <mode> --loop_rate <loop_rate> --phone_host <phone_host> --bilateral_host <bilateral_host>where <id> refers to the ID of the gripper, <mode> refers to either standalone or teleop, <phone_host> refers to the IP address of the iPhone, and <bilateral_host> refers to the IP address of the other control box only during teleoperation.
Then the initialization starts and running logs print on the command line. The app on iPhone can also receive the data from the control box.
To stop the program, just press Ctrl+C.
WARNING
The MagiClaw gripper can not receive the control command from both app and CLI at the same time, so please just select one suitable way.
Launch Dashboard
The dashboard contains the current states of the MagiClaw, including the claw angle, finger images, gripper pose, running logs, etc. It can also send commands to start or stop the MagiClaw. To launch the dashboard, you need to open a web browser and navigate to http://<ip_or_hostname>:8000, where <ip_or_hostname> refers to the IP address or hostname of the control box.
WARNING
Do not send control commands from both the dashboard and app simultaneously, as it may cause conflicts.
What's Next?
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