asMagiClaw

MagiClaw is a versatile two-finger end-effector that can be hand-held by human operators or mounted on a robotic arm.

It captures comprehensive action data (including kinematic motion, force, and contact deformation) from real-world demonstrations. The fingers feature soft, parallel-mechanism-driven designs, each with a miniature camera for vision-based deformable perception.

An iPhone (with integrated LiDAR) provides additional environmental sensing and processes all sensor streams via a custom iOS application asMagic.