MagiClaw Viewer

This repository contains an real-time viewer for visualizing the multi-model data received from MagiClaw.

🚀 Installation

To set up the MagiClaw Viewer, first clone the repository:

git clone https://github.com/asMagiClaw/magiclaw-viewer.git
cd magiclaw-viewer

It's recommended to create conda environment, and install the required dependencies:

conda create -n magiclaw-viewer python=3.10
conda activate magiclaw-viewer
pip install -r requirements.txt

🔧 Configuration

The viewer requires a configuration file to connect to the MagiClaw and visualize the data. The default configuration file is located at configs/viewer.yaml. You can modify this file to suit your setup, including the host and port of the MagiClaw (Raspberry Pi). The file structure is as follows:

magiclaw_0:
  host: xx.xx.xx.xx
  port: 6300
magiclaw_1:
  host: xx.xx.xx.xx
  port: 6400

The viewer supports at most two MagiClaw connected simultaneously.

🖥️ Usage

After setting up the configuration, you can start the viewer by running the following command:

python viewer.py --mode <mode> --number <number> --type <type> --data_path <data_path>

where:

• mode (m): The mode of the viewer, including live or replay.
• number (n): The number of the MagiClaw to connect to, including 1 or 2.
• type (t): The type of MagiClaw, including magiclaw-in-hand or magiclaw-on-robot.
• data_path (d): The path to the recorded data file (only required in repaly mode).

Then a Rerun window will pop up, and the data will be visualized in real-time or from the recorded file.

📄 License

This repository is licensed under the MIT License.