Data Recording and Storage

Connecting to the Raspberry Pi

1. Ensure both your iPhone and Raspberry Pi are connected to the same Wi-Fi network.

2. Go to the app’s “Settings” page and set your Raspberry Pi’s IP address or hostname.

   • To find your Raspberry Pi's IP address, run ifconfig in your Raspberry Pi's terminal.
   • Run hostname to find its hostname.

Recording Data

1. Navigate to the "Panel" page and tap “Record”.
2. Confirm that the Raspberry Pi connection status is “Connected.”
3. Choose the appropriate task scenario and provide a description.
4. Press “Start recording” to begin capturing data. Press the button again to stop.

Viewing and Sharing Data

You can access saved data by navigating to the “MagiClaw” folder in the iPhone’s “Files” app.

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.