Collecting Data with MagiClaw via App

Accurate and high-fidelity human data is a key resource for developing intelligent robotic systems. By capturing human motions, interactions, and force patterns, we can enable robots to learn complex manipulation skills through imitation, reinforcement learning, or data-driven control methods. This page will introduce how to collect human data using the in-hand MagiClaw combined with the asMagic app.

Data Types

The asMagic App supports recording multiple data types simultaneously:

  • RGB video frames captured from the device's rear camera. (30/60 Hz)

  • Device 6D pose (position & orientation). (30/60 Hz)

  • IMU (Inertial Measurement Unit) data. (Up to 100 Hz)

  • 6D Force/Torque.

  • Gripper opening angle.

How to record data

1

Make sure the app is connected to the MagiClaw gripper.

2

In the asMagic app, Go to Data Collection.

3

Write down the description and select a scenario of the task.

4

Tap Record button.

View and share your recorded data

All the recorded data is saved in the Files app on your iOS device.

Go to Files ->on this iPhone -> asMagic folder. Inside, you will find your data sessions, each named in the format YYYYMMDD_hhmmss.

You can use AirDrop or email to send and share your data with other devices or locations.

File Formats

  • metadata.json: Contains all properties of the recorded data.

  • AngleData.csv: Contains angle values from the encoder.

  • R_ForceData.csv: Contains 6D force data from the right-side soft robotic finger, measurements in newtons (N) and newton-meters (Nm). Columns 2 to 7 represent the following values: Fx, Fy, Fz, Mx, My, Mz.

  • L_ForceData.csv: Contains 6D force data from the left-side soft robotic finger, measurements in newtons (N) and newton-meters (Nm). Columns 2 to 7 represent the following values: Fx, Fy, Fz, Mx, My, Mz.

  • PoseData.csv: Contains 6D pose data of the iPhone measured by ARKit. It's a 4x4 transformation matrix in original, stored column-wise.

  • RGB.mp4: Rear camera recording, with a resolution of 640x480 pixels.

  • Depth: Stored in .bin format within the Depth folder. Each file contains depth data for the corresponding frame, with a resolution of 256x192. The data type is UInt, and the depth values are in units of 10e-4 meters.

  • Audio.m4a:

    • Format: AAC (Advanced Audio Coding)

    • Sample Rate: 12kHz

    • Channels: Mono (1 channel)

Timestamp

  • Present in the first column of each CSV file, indicating the elapsed time since recording started, in seconds. For depth data, timestamps are included in the file names.

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