抓我训练更新

backend/grasp_data_collection.psyexp

@@ -308,7 +308,7 @@
         <Param val="time (s)" valType="str" updates="None" name="startType"/>
         <Param val="0.0" valType="code" updates="None" name="startVal"/>
         <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
-        <Param val="5" valType="code" updates="constant" name="stopVal"/>
+        <Param val="6" valType="code" updates="constant" name="stopVal"/>
         <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
         <Param val="128" valType="num" updates="constant" name="texture resolution"/>
         <Param val="from exp settings" valType="str" updates="None" name="units"/>
@@ -443,7 +443,7 @@
         <Param val="time (s)" valType="str" updates="None" name="startType"/>
         <Param val="1" valType="code" updates="None" name="startVal"/>
         <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
-        <Param val="6.5" valType="code" updates="constant" name="stopVal"/>
+        <Param val="6" valType="code" updates="constant" name="stopVal"/>
         <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
         <Param val="128" valType="num" updates="constant" name="texture resolution"/>
         <Param val="from exp settings" valType="str" updates="None" name="units"/>
@@ -472,7 +472,7 @@
         <Param val="" valType="extendedCode" updates="constant" name="Begin JS Routine"/>
         <Param val="i = 0&amp;#10;" valType="extendedCode" updates="constant" name="Begin Routine"/>
         <Param val="Py" valType="str" updates="None" name="Code Type"/>
-        <Param val="&amp;#10;if i== 119:&amp;#10;    hand_device.start('extend')&amp;#10;    # send trigger&amp;#10;    current_true_label = settings.FINGERMODEL_IDS['extend']&amp;#10;    win.callOnFlip(trigger.send_trigger, current_true_label)&amp;#10;&amp;#10;i += 1    &amp;#10;# 每轮开始前空白等待1s + 反应时1s + 新版extend时间4.5s + 1s裕量 = 7.5s" valType="extendedCode" updates="constant" name="Each Frame"/>
+        <Param val="&amp;#10;if i== 119:&amp;#10;    hand_device.start('extend')&amp;#10;    # send trigger&amp;#10;    current_true_label = settings.FINGERMODEL_IDS['extend']&amp;#10;    win.callOnFlip(trigger.send_trigger, current_true_label)&amp;#10;&amp;#10;i += 1    &amp;#10;# 每轮开始前空白等待1s + 反应时1s + 新版extend时间4.5s + 0.5s裕量 = 7s" valType="extendedCode" updates="constant" name="Each Frame"/>
         <Param val="" valType="extendedCode" updates="constant" name="Each JS Frame"/>
         <Param val="" valType="extendedCode" updates="constant" name="End Experiment"/>
         <Param val="" valType="extendedCode" updates="constant" name="End JS Experiment"/>
@@ -536,7 +536,7 @@
         <Param val="time (s)" valType="str" updates="None" name="startType"/>
         <Param val="0.0" valType="code" updates="None" name="startVal"/>
         <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
-        <Param val="6.5" valType="code" updates="constant" name="stopVal"/>
+        <Param val="6" valType="code" updates="constant" name="stopVal"/>
         <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
         <Param val="128" valType="num" updates="constant" name="texture resolution"/>
         <Param val="from exp settings" valType="str" updates="None" name="units"/>
@@ -549,7 +549,7 @@
         <Param val="" valType="extendedCode" updates="constant" name="Begin JS Routine"/>
         <Param val="i = 0&amp;#10;" valType="extendedCode" updates="constant" name="Begin Routine"/>
         <Param val="Py" valType="str" updates="None" name="Code Type"/>
-        <Param val="if i == 59:&amp;#10;    hand_device.start(args.finger_model)&amp;#10;    # trigger&amp;#10;    current_true_label = settings.FINGERMODEL_IDS[args.finger_model]&amp;#10;    win.callOnFlip(trigger.send_trigger, current_true_label)&amp;#10;&amp;#10;i += 1&amp;#10;&amp;#10;# 反应时1s+新版气动手flex时间4.5s + 1s裕量 = 6.5s" valType="extendedCode" updates="constant" name="Each Frame"/>
+        <Param val="if i == 59:&amp;#10;    hand_device.start(args.finger_model)&amp;#10;    # trigger&amp;#10;    current_true_label = settings.FINGERMODEL_IDS[args.finger_model]&amp;#10;    win.callOnFlip(trigger.send_trigger, current_true_label)&amp;#10;&amp;#10;i += 1&amp;#10;&amp;#10;# 反应时1s+新版气动手flex时间4.5s + 0.5s裕量 = 6s" valType="extendedCode" updates="constant" name="Each Frame"/>
         <Param val="" valType="extendedCode" updates="constant" name="Each JS Frame"/>
         <Param val="" valType="extendedCode" updates="constant" name="End Experiment"/>
         <Param val="" valType="extendedCode" updates="constant" name="End JS Experiment"/>

backend/grasp_data_collection.py

@@ -2,7 +2,7 @@
 # -*- coding: utf-8 -*-
 """
 This experiment was created using PsychoPy3 Experiment Builder (v2023.2.3),
-    on 十二月 14, 2023, at 15:41
+    on 十二月 18, 2023, at 10:55
 If you publish work using this script the most relevant publication is:
 
     Peirce J, Gray JR, Simpson S, MacAskill M, Höchenberger R, Sogo H, Kastman E, Lindeløv JK. (2019) 
@@ -177,7 +177,7 @@ def setupData(expInfo, dataDir=None):
     thisExp = data.ExperimentHandler(
         name=expName, version='',
         extraInfo=expInfo, runtimeInfo=None,
-        originPath='C:\\Users\\asena\\Desktop\\kraken\\backend\\grasp_data_collection.py',
+        originPath='D:\\Graduate\\kraken\\backend\\grasp_data_collection.py',
         savePickle=True, saveWideText=True,
         dataFileName=dataDir + os.sep + filename, sortColumns='time'
     )
@@ -751,7 +751,7 @@ def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
         
         # --- Run Routine "extend" ---
         routineForceEnded = not continueRoutine
-        while continueRoutine and routineTimer.getTime() < 7.5:
+        while continueRoutine and routineTimer.getTime() < 7.0:
             # get current time
             t = routineTimer.getTime()
             tThisFlip = win.getFutureFlipTime(clock=routineTimer)
@@ -782,7 +782,7 @@ def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
             # if extend_img is stopping this frame...
             if extend_img.status == STARTED:
                 # is it time to stop? (based on global clock, using actual start)
-                if tThisFlipGlobal > extend_img.tStartRefresh + 6.5-frameTolerance:
+                if tThisFlipGlobal > extend_img.tStartRefresh + 6-frameTolerance:
                     # keep track of stop time/frame for later
                     extend_img.tStop = t  # not accounting for scr refresh
                     extend_img.frameNStop = frameN  # exact frame index
@@ -830,7 +830,7 @@ def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
                 win.callOnFlip(trigger.send_trigger, current_true_label)
             
             i += 1    
-            # 每轮开始前空白等待1s + 反应时1s + 新版extend时间4.5s + 1s裕量 = 7.5s
+            # 每轮开始前空白等待1s + 反应时1s + 新版extend时间4.5s + 0.5s裕量 = 7s
             
             # if extend_wav is starting this frame...
             if extend_wav.status == NOT_STARTED and tThisFlip >= 1.8-frameTolerance:
@@ -894,7 +894,7 @@ def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
         if routineForceEnded:
             routineTimer.reset()
         else:
-            routineTimer.addTime(-7.500000)
+            routineTimer.addTime(-7.000000)
         
         # --- Prepare to start Routine "flex" ---
         continueRoutine = True
@@ -922,7 +922,7 @@ def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
         
         # --- Run Routine "flex" ---
         routineForceEnded = not continueRoutine
-        while continueRoutine and routineTimer.getTime() < 6.5:
+        while continueRoutine and routineTimer.getTime() < 6.0:
             # get current time
             t = routineTimer.getTime()
             tThisFlip = win.getFutureFlipTime(clock=routineTimer)
@@ -953,7 +953,7 @@ def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
             # if flex_img is stopping this frame...
             if flex_img.status == STARTED:
                 # is it time to stop? (based on global clock, using actual start)
-                if tThisFlipGlobal > flex_img.tStartRefresh + 6.5-frameTolerance:
+                if tThisFlipGlobal > flex_img.tStartRefresh + 6-frameTolerance:
                     # keep track of stop time/frame for later
                     flex_img.tStop = t  # not accounting for scr refresh
                     flex_img.frameNStop = frameN  # exact frame index
@@ -971,7 +971,7 @@ def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
             
             i += 1
             
-            # 反应时1s+新版气动手flex时间4.5s + 1s裕量 = 6.5s
+            # 反应时1s+新版气动手flex时间4.5s + 0.5s裕量 = 6s
             
             # if flex_wav is starting this frame...
             if flex_wav.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
@@ -1034,7 +1034,7 @@ def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
         if routineForceEnded:
             routineTimer.reset()
         else:
-            routineTimer.addTime(-6.500000)
+            routineTimer.addTime(-6.000000)
         
         # --- Prepare to start Routine "hold" ---
         continueRoutine = True
@@ -1193,7 +1193,7 @@ def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
         
         # --- Run Routine "rest" ---
         routineForceEnded = not continueRoutine
-        while continueRoutine and routineTimer.getTime() < 5.0:
+        while continueRoutine and routineTimer.getTime() < 6.0:
             # get current time
             t = routineTimer.getTime()
             tThisFlip = win.getFutureFlipTime(clock=routineTimer)
@@ -1224,7 +1224,7 @@ def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
             # if rest_img is stopping this frame...
             if rest_img.status == STARTED:
                 # is it time to stop? (based on global clock, using actual start)
-                if tThisFlipGlobal > rest_img.tStartRefresh + 5-frameTolerance:
+                if tThisFlipGlobal > rest_img.tStartRefresh + 6-frameTolerance:
                     # keep track of stop time/frame for later
                     rest_img.tStop = t  # not accounting for scr refresh
                     rest_img.frameNStop = frameN  # exact frame index
@@ -1333,7 +1333,7 @@ def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
         if routineForceEnded:
             routineTimer.reset()
         else:
-            routineTimer.addTime(-5.000000)
+            routineTimer.addTime(-6.000000)
         thisExp.nextEntry()
         
         if thisSession is not None:

backend/grasp_data_collection_no_release.psyexp

@@ -0,0 +1,584 @@
+<?xml version="1.0" ?>
+<PsychoPy2experiment encoding="utf-8" version="2023.2.3">
+  <Settings>
+    <Param val="3" valType="str" updates="None" name="Audio latency priority"/>
+    <Param val="ptb" valType="str" updates="None" name="Audio lib"/>
+    <Param val="" valType="str" updates="None" name="Completed URL"/>
+    <Param val="auto" valType="str" updates="None" name="Data file delimiter"/>
+    <Param val="u'data/%s_%s_%s' % (expInfo['participant'], expName, expInfo['date'])" valType="code" updates="None" name="Data filename"/>
+    <Param val="True" valType="bool" updates="None" name="Enable Escape"/>
+    <Param val="" valType="str" updates="None" name="End Message"/>
+    <Param val="{'participant': 'f&quot;{randint(0, 999999):06.0f}&quot;', 'session': '001'}" valType="code" updates="None" name="Experiment info"/>
+    <Param val="True" valType="bool" updates="None" name="Force stereo"/>
+    <Param val="True" valType="bool" updates="None" name="Full-screen window"/>
+    <Param val="" valType="str" updates="None" name="HTML path"/>
+    <Param val="" valType="str" updates="None" name="Incomplete URL"/>
+    <Param val="testMonitor" valType="str" updates="None" name="Monitor"/>
+    <Param val="[]" valType="list" updates="None" name="Resources"/>
+    <Param val="False" valType="bool" updates="None" name="Save csv file"/>
+    <Param val="False" valType="bool" updates="None" name="Save excel file"/>
+    <Param val="False" valType="bool" updates="None" name="Save hdf5 file"/>
+    <Param val="True" valType="bool" updates="None" name="Save log file"/>
+    <Param val="True" valType="bool" updates="None" name="Save psydat file"/>
+    <Param val="True" valType="bool" updates="None" name="Save wide csv file"/>
+    <Param val="1" valType="num" updates="None" name="Screen"/>
+    <Param val="True" valType="bool" updates="None" name="Show info dlg"/>
+    <Param val="False" valType="bool" updates="None" name="Show mouse"/>
+    <Param val="height" valType="str" updates="None" name="Units"/>
+    <Param val="" valType="str" updates="None" name="Use version"/>
+    <Param val="[1707, 1067]" valType="list" updates="None" name="Window size (pixels)"/>
+    <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+    <Param val="" valType="str" updates="None" name="backgroundImg"/>
+    <Param val="avg" valType="str" updates="None" name="blendMode"/>
+    <Param val="{'thisRow.t': 'priority.CRITICAL', 'expName': 'priority.LOW'}" valType="dict" updates="None" name="colPriority"/>
+    <Param val="$[1,1,1]" valType="color" updates="None" name="color"/>
+    <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+    <Param val="100.1.1.1" valType="str" updates="None" name="elAddress"/>
+    <Param val="FILTER_LEVEL_2" valType="str" updates="None" name="elDataFiltering"/>
+    <Param val="FILTER_LEVEL_OFF" valType="str" updates="None" name="elLiveFiltering"/>
+    <Param val="EYELINK 1000 DESKTOP" valType="str" updates="None" name="elModel"/>
+    <Param val="ELLIPSE_FIT" valType="str" updates="None" name="elPupilAlgorithm"/>
+    <Param val="PUPIL_AREA" valType="str" updates="None" name="elPupilMeasure"/>
+    <Param val="1000" valType="num" updates="None" name="elSampleRate"/>
+    <Param val="False" valType="bool" updates="None" name="elSimMode"/>
+    <Param val="RIGHT_EYE" valType="str" updates="None" name="elTrackEyes"/>
+    <Param val="PUPIL_CR_TRACKING" valType="str" updates="None" name="elTrackingMode"/>
+    <Param val="grasp_data_collection" valType="str" updates="None" name="expName"/>
+    <Param val="on Sync" valType="str" updates="None" name="exportHTML"/>
+    <Param val="None" valType="str" updates="None" name="eyetracker"/>
+    <Param val="127.0.0.1" valType="str" updates="None" name="gpAddress"/>
+    <Param val="4242" valType="num" updates="None" name="gpPort"/>
+    <Param val="ioHub" valType="str" updates="None" name="keyboardBackend"/>
+    <Param val="exp" valType="code" updates="None" name="logging level"/>
+    <Param val="('MIDDLE_BUTTON',)" valType="list" updates="None" name="mgBlink"/>
+    <Param val="CONTINUOUS" valType="str" updates="None" name="mgMove"/>
+    <Param val="0.5" valType="num" updates="None" name="mgSaccade"/>
+    <Param val="neon.local" valType="str" updates="None" name="plCompanionAddress"/>
+    <Param val="scene_camera.json" valType="file" updates="None" name="plCompanionCameraCalibration"/>
+    <Param val="8080" valType="num" updates="None" name="plCompanionPort"/>
+    <Param val="True" valType="bool" updates="None" name="plCompanionRecordingEnabled"/>
+    <Param val="0.6" valType="num" updates="None" name="plConfidenceThreshold"/>
+    <Param val="True" valType="bool" updates="None" name="plPupilCaptureRecordingEnabled"/>
+    <Param val="" valType="str" updates="None" name="plPupilCaptureRecordingLocation"/>
+    <Param val="127.0.0.1" valType="str" updates="None" name="plPupilRemoteAddress"/>
+    <Param val="50020" valType="num" updates="None" name="plPupilRemotePort"/>
+    <Param val="1000" valType="num" updates="None" name="plPupilRemoteTimeoutMs"/>
+    <Param val="False" valType="bool" updates="None" name="plPupillometryOnly"/>
+    <Param val="psychopy_iohub_surface" valType="str" updates="None" name="plSurfaceName"/>
+    <Param val="time" valType="str" updates="None" name="sortColumns"/>
+    <Param val="" valType="str" updates="None" name="tbLicenseFile"/>
+    <Param val="" valType="str" updates="None" name="tbModel"/>
+    <Param val="60" valType="num" updates="None" name="tbSampleRate"/>
+    <Param val="" valType="str" updates="None" name="tbSerialNo"/>
+    <Param val="pyglet" valType="str" updates="None" name="winBackend"/>
+  </Settings>
+  <Routines>
+    <Routine name="prepare">
+      <RoutineSettingsComponent name="prepare" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="prepare" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <TextComponent name="text" plugin="None">
+        <Param val="black" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="None" valType="str" updates="constant" name="flip"/>
+        <Param val="Open Sans" valType="str" updates="constant" name="font"/>
+        <Param val="LTR" valType="str" updates="None" name="languageStyle"/>
+        <Param val="0.05" valType="num" updates="constant" name="letterHeight"/>
+        <Param val="text" valType="code" updates="None" name="name"/>
+        <Param val="1" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="抓握训练即将开始&amp;#10;如果准备好了，请按空格键" valType="str" updates="constant" name="text"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+        <Param val="" valType="num" updates="constant" name="wrapWidth"/>
+      </TextComponent>
+      <KeyboardComponent name="key_resp" plugin="None">
+        <Param val="'space'" valType="list" updates="constant" name="allowedKeys"/>
+        <Param val="" valType="str" updates="constant" name="correctAns"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="True" valType="bool" updates="constant" name="discard previous"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="forceEndRoutine"/>
+        <Param val="key_resp" valType="code" updates="None" name="name"/>
+        <Param val="press" valType="str" updates="constant" name="registerOn"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="last key" valType="str" updates="constant" name="store"/>
+        <Param val="False" valType="bool" updates="constant" name="storeCorrect"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+      </KeyboardComponent>
+      <CodeComponent name="config" plugin="None">
+        <Param val="import argparse&amp;#10;import time&amp;#10;from device.fubo_pneumatic_finger import FuboPneumaticFingerClient&amp;#10;from device.trigger_box import TriggerNeuracle&amp;#10;from settings.config import settings&amp;#10;&amp;#10;&amp;#10;# get train params&amp;#10;&amp;#10;def parse_args():&amp;#10;&amp;#10;    parser = argparse.ArgumentParser(&amp;#10;&amp;#10;        description='Grasp training'&amp;#10;&amp;#10;    )&amp;#10;&amp;#10;    parser.add_argument(&amp;#10;&amp;#10;        '--n-trials',&amp;#10;&amp;#10;        dest='n_trials',&amp;#10;&amp;#10;        help='Trial number',&amp;#10;&amp;#10;        type=int,&amp;#10;&amp;#10;    )&amp;#10;&amp;#10;    parser.add_argument(&amp;#10;&amp;#10;        '--com',&amp;#10;&amp;#10;        dest='com',&amp;#10;&amp;#10;        help='Peripheral serial port',&amp;#10;&amp;#10;        type=str&amp;#10;&amp;#10;    )&amp;#10;&amp;#10;    parser.add_argument(&amp;#10;&amp;#10;        '--finger-model',&amp;#10;&amp;#10;        '-fm',&amp;#10;&amp;#10;        dest='finger_model',&amp;#10;&amp;#10;        help='Gesture to train',&amp;#10;&amp;#10;        type=str&amp;#10;&amp;#10;    )&amp;#10;&amp;#10;    return parser.parse_args()&amp;#10;&amp;#10;&amp;#10;&amp;#10;args = parse_args()&amp;#10;&amp;#10;hand_device = FuboPneumaticFingerClient({'port': args.com})&amp;#10;&amp;#10;# connect to trigger box&amp;#10;trigger = TriggerNeuracle()&amp;#10;" valType="extendedCode" updates="constant" name="Before Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Before JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Routine"/>
+        <Param val="&amp;#10;" valType="extendedCode" updates="constant" name="Begin Routine"/>
+        <Param val="Py" valType="str" updates="None" name="Code Type"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each JS Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Routine"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Routine"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="config" valType="code" updates="None" name="name"/>
+      </CodeComponent>
+    </Routine>
+    <Routine name="ready">
+      <RoutineSettingsComponent name="ready" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="ready" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <TextComponent name="ready_text" plugin="None">
+        <Param val="black" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="None" valType="str" updates="constant" name="flip"/>
+        <Param val="Open Sans" valType="str" updates="constant" name="font"/>
+        <Param val="LTR" valType="str" updates="None" name="languageStyle"/>
+        <Param val="0.05" valType="num" updates="constant" name="letterHeight"/>
+        <Param val="ready_text" valType="code" updates="None" name="name"/>
+        <Param val="" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="1.5" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="请准备" valType="str" updates="constant" name="text"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+        <Param val="" valType="num" updates="constant" name="wrapWidth"/>
+      </TextComponent>
+    </Routine>
+    <Routine name="hold">
+      <RoutineSettingsComponent name="hold" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="hold" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <ImageComponent name="hold_img" plugin="None">
+        <Param val="center" valType="str" updates="constant" name="anchor"/>
+        <Param val="$[1,1,1]" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="False" valType="bool" updates="constant" name="flipHoriz"/>
+        <Param val="False" valType="bool" updates="constant" name="flipVert"/>
+        <Param val="static/images/hold.png" valType="file" updates="constant" name="image"/>
+        <Param val="linear" valType="str" updates="constant" name="interpolate"/>
+        <Param val="" valType="str" updates="constant" name="mask"/>
+        <Param val="hold_img" valType="code" updates="None" name="name"/>
+        <Param val="" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="(0.5, 0.5)" valType="list" updates="constant" name="size"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="5" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="128" valType="num" updates="constant" name="texture resolution"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+      </ImageComponent>
+      <CodeComponent name="code_3" plugin="None">
+        <Param val="" valType="extendedCode" updates="constant" name="Before Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Before JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Routine"/>
+        <Param val="win.callOnFlip(trigger.send_trigger, settings.FINGERMODEL_IDS['hold'])&amp;#10;# hold trigger（图片）后5s，出现extend图片" valType="extendedCode" updates="constant" name="Begin Routine"/>
+        <Param val="Py" valType="str" updates="None" name="Code Type"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each JS Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Routine"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Routine"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="code_3" valType="code" updates="None" name="name"/>
+      </CodeComponent>
+      <SoundComponent name="hold_wav" plugin="None">
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="hamming"/>
+        <Param val="hold_wav" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="static/audios/hold.wav" valType="str" updates="constant" name="sound"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="2.5" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="constant" name="stopWithRoutine"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+        <Param val="1" valType="num" updates="constant" name="volume"/>
+      </SoundComponent>
+    </Routine>
+    <Routine name="rest">
+      <RoutineSettingsComponent name="rest" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="rest" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <ImageComponent name="rest_img" plugin="None">
+        <Param val="center" valType="str" updates="constant" name="anchor"/>
+        <Param val="$[1,1,1]" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="False" valType="bool" updates="constant" name="flipHoriz"/>
+        <Param val="False" valType="bool" updates="constant" name="flipVert"/>
+        <Param val="static/images/rest.png" valType="file" updates="constant" name="image"/>
+        <Param val="linear" valType="str" updates="constant" name="interpolate"/>
+        <Param val="" valType="str" updates="constant" name="mask"/>
+        <Param val="rest_img" valType="code" updates="None" name="name"/>
+        <Param val="" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="(0.5, 0.5)" valType="list" updates="constant" name="size"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="6" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="128" valType="num" updates="constant" name="texture resolution"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+      </ImageComponent>
+      <CodeComponent name="code_4" plugin="None">
+        <Param val="" valType="extendedCode" updates="constant" name="Before Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Before JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Routine"/>
+        <Param val="i = 0" valType="extendedCode" updates="constant" name="Begin Routine"/>
+        <Param val="Py" valType="str" updates="None" name="Code Type"/>
+        <Param val="if i== 59:&amp;#10;#    hand_device.start('rest')&amp;#10;    # trigger&amp;#10;    win.callOnFlip(trigger.send_trigger, settings.FINGERMODEL_IDS['rest'])&amp;#10;&amp;#10;i += 1" valType="extendedCode" updates="constant" name="Each Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each JS Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Routine"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Routine"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="code_4" valType="code" updates="None" name="name"/>
+      </CodeComponent>
+      <SoundComponent name="rest_wav1" plugin="None">
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="hamming"/>
+        <Param val="rest_wav1" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="static/audios/rest.wav" valType="str" updates="constant" name="sound"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="2" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="constant" name="stopWithRoutine"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+        <Param val="1" valType="num" updates="constant" name="volume"/>
+      </SoundComponent>
+    </Routine>
+    <Routine name="end">
+      <RoutineSettingsComponent name="end" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="end" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <TextComponent name="end_text" plugin="None">
+        <Param val="black" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="None" valType="str" updates="constant" name="flip"/>
+        <Param val="Open Sans" valType="str" updates="constant" name="font"/>
+        <Param val="LTR" valType="str" updates="None" name="languageStyle"/>
+        <Param val="0.05" valType="num" updates="constant" name="letterHeight"/>
+        <Param val="end_text" valType="code" updates="None" name="name"/>
+        <Param val="1" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="3" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="恭喜您！&amp;#10;完成训练！" valType="str" updates="constant" name="text"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+        <Param val="" valType="num" updates="constant" name="wrapWidth"/>
+      </TextComponent>
+    </Routine>
+    <Routine name="extend">
+      <RoutineSettingsComponent name="extend" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="extend" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <ImageComponent name="extend_img" plugin="None">
+        <Param val="center" valType="str" updates="constant" name="anchor"/>
+        <Param val="$[1,1,1]" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="False" valType="bool" updates="constant" name="flipHoriz"/>
+        <Param val="False" valType="bool" updates="constant" name="flipVert"/>
+        <Param val="static/images/extend.png" valType="file" updates="constant" name="image"/>
+        <Param val="linear" valType="str" updates="constant" name="interpolate"/>
+        <Param val="" valType="str" updates="constant" name="mask"/>
+        <Param val="extend_img" valType="code" updates="None" name="name"/>
+        <Param val="" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="(0.5, 0.5)" valType="list" updates="constant" name="size"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="6" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="128" valType="num" updates="constant" name="texture resolution"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+      </ImageComponent>
+      <CodeComponent name="code" plugin="None">
+        <Param val="&amp;#10;" valType="extendedCode" updates="constant" name="Before Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Before JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Routine"/>
+        <Param val="i = 0&amp;#10;" valType="extendedCode" updates="constant" name="Begin Routine"/>
+        <Param val="Py" valType="str" updates="None" name="Code Type"/>
+        <Param val="if i== 59:&amp;#10;    hand_device.start('extend')&amp;#10;    # send trigger&amp;#10;    current_true_label = settings.FINGERMODEL_IDS['extend']&amp;#10;    win.callOnFlip(trigger.send_trigger, current_true_label)&amp;#10;&amp;#10;i += 1    &amp;#10;# 反应时1s + 新版extend时间4.5s + 0.5s裕量 = 6s&amp;#10;# extend 图片出现后6s，extend trigger后5s，rest图片出现" valType="extendedCode" updates="constant" name="Each Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each JS Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Routine"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Routine"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="code" valType="code" updates="None" name="name"/>
+      </CodeComponent>
+      <SoundComponent name="extend_wav" plugin="None">
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="hamming"/>
+        <Param val="extend_wav" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="static/audios/extend.wav" valType="str" updates="constant" name="sound"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="2" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="constant" name="stopWithRoutine"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+        <Param val="1" valType="num" updates="constant" name="volume"/>
+      </SoundComponent>
+    </Routine>
+    <Routine name="flex">
+      <RoutineSettingsComponent name="flex" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="flex" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <ImageComponent name="flex_img" plugin="None">
+        <Param val="center" valType="str" updates="constant" name="anchor"/>
+        <Param val="$[1,1,1]" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="False" valType="bool" updates="constant" name="flipHoriz"/>
+        <Param val="False" valType="bool" updates="constant" name="flipVert"/>
+        <Param val="static/images/flex.png" valType="file" updates="constant" name="image"/>
+        <Param val="linear" valType="str" updates="constant" name="interpolate"/>
+        <Param val="" valType="str" updates="constant" name="mask"/>
+        <Param val="flex_img" valType="code" updates="None" name="name"/>
+        <Param val="" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="(0.5, 0.5)" valType="list" updates="constant" name="size"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="1" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="6" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="128" valType="num" updates="constant" name="texture resolution"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+      </ImageComponent>
+      <CodeComponent name="code_2" plugin="None">
+        <Param val="" valType="extendedCode" updates="constant" name="Before Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Before JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Routine"/>
+        <Param val="i = 0&amp;#10;" valType="extendedCode" updates="constant" name="Begin Routine"/>
+        <Param val="Py" valType="str" updates="None" name="Code Type"/>
+        <Param val="if i == 119:&amp;#10;    hand_device.start(args.finger_model)&amp;#10;    # trigger&amp;#10;    current_true_label = settings.FINGERMODEL_IDS[args.finger_model]&amp;#10;    win.callOnFlip(trigger.send_trigger, current_true_label)&amp;#10;&amp;#10;i += 1&amp;#10;&amp;#10;# 每轮开始前空白等待1s + 反应时1s + 新版flex时间4.5s + 0.5s裕量 = 7s。&amp;#10;# flex trigger打出5s（flex图片显示7s）后，hold图片显示。&amp;#10;" valType="extendedCode" updates="constant" name="Each Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each JS Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Routine"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Routine"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="code_2" valType="code" updates="None" name="name"/>
+      </CodeComponent>
+      <SoundComponent name="flex_wav" plugin="None">
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="hamming"/>
+        <Param val="flex_wav" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="static/audios/flex.wav" valType="str" updates="constant" name="sound"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="1.8" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="2" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="constant" name="stopWithRoutine"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+        <Param val="1" valType="num" updates="constant" name="volume"/>
+      </SoundComponent>
+      <SoundComponent name="attention" plugin="None">
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="hamming"/>
+        <Param val="attention" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="static/audios/ding.wav" valType="str" updates="constant" name="sound"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="1" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="1.0" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="constant" name="stopWithRoutine"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+        <Param val="1" valType="num" updates="constant" name="volume"/>
+      </SoundComponent>
+    </Routine>
+  </Routines>
+  <Flow>
+    <Routine name="prepare"/>
+    <LoopInitiator loopType="TrialHandler" name="trials">
+      <Param name="Selected rows" updates="None" val="" valType="str"/>
+      <Param name="conditions" updates="None" val="None" valType="str"/>
+      <Param name="conditionsFile" updates="None" val="" valType="file"/>
+      <Param name="endPoints" updates="None" val="[0, 1]" valType="num"/>
+      <Param name="isTrials" updates="None" val="True" valType="bool"/>
+      <Param name="loopType" updates="None" val="random" valType="str"/>
+      <Param name="nReps" updates="None" val="args.n_trials" valType="num"/>
+      <Param name="name" updates="None" val="trials" valType="code"/>
+      <Param name="random seed" updates="None" val="" valType="code"/>
+    </LoopInitiator>
+    <Routine name="ready"/>
+    <Routine name="flex"/>
+    <Routine name="hold"/>
+    <Routine name="extend"/>
+    <Routine name="rest"/>
+    <LoopTerminator name="trials"/>
+    <Routine name="end"/>
+  </Flow>
+</PsychoPy2experiment>

backend/grasp_data_collection_no_release.py

@@ -0,0 +1,1500 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+This experiment was created using PsychoPy3 Experiment Builder (v2023.2.3),
+    on 十二月 18, 2023, at 10:48
+If you publish work using this script the most relevant publication is:
+
+    Peirce J, Gray JR, Simpson S, MacAskill M, Höchenberger R, Sogo H, Kastman E, Lindeløv JK. (2019) 
+        PsychoPy2: Experiments in behavior made easy Behav Res 51: 195. 
+        https://doi.org/10.3758/s13428-018-01193-y
+
+"""
+
+# --- Import packages ---
+from psychopy import locale_setup
+from psychopy import prefs
+from psychopy import plugins
+plugins.activatePlugins()
+prefs.hardware['audioLib'] = 'ptb'
+prefs.hardware['audioLatencyMode'] = '3'
+from psychopy import sound, gui, visual, core, data, event, logging, clock, colors, layout
+from psychopy.tools import environmenttools
+from psychopy.constants import (NOT_STARTED, STARTED, PLAYING, PAUSED,
+                                STOPPED, FINISHED, PRESSED, RELEASED, FOREVER, priority)
+
+import numpy as np  # whole numpy lib is available, prepend 'np.'
+from numpy import (sin, cos, tan, log, log10, pi, average,
+                   sqrt, std, deg2rad, rad2deg, linspace, asarray)
+from numpy.random import random, randint, normal, shuffle, choice as randchoice
+import os  # handy system and path functions
+import sys  # to get file system encoding
+
+import psychopy.iohub as io
+from psychopy.hardware import keyboard
+
+# Run 'Before Experiment' code from config
+import argparse
+import time
+from device.fubo_pneumatic_finger import FuboPneumaticFingerClient
+from device.trigger_box import TriggerNeuracle
+from settings.config import settings
+
+
+# get train params
+
+def parse_args():
+
+    parser = argparse.ArgumentParser(
+
+        description='Grasp training'
+
+    )
+
+    parser.add_argument(
+
+        '--n-trials',
+
+        dest='n_trials',
+
+        help='Trial number',
+
+        type=int,
+
+    )
+
+    parser.add_argument(
+
+        '--com',
+
+        dest='com',
+
+        help='Peripheral serial port',
+
+        type=str
+
+    )
+
+    parser.add_argument(
+
+        '--finger-model',
+
+        '-fm',
+
+        dest='finger_model',
+
+        help='Gesture to train',
+
+        type=str
+
+    )
+
+    return parser.parse_args()
+
+
+
+args = parse_args()
+
+hand_device = FuboPneumaticFingerClient({'port': args.com})
+
+# connect to trigger box
+trigger = TriggerNeuracle()
+
+# Run 'Before Experiment' code from code
+
+
+# --- Setup global variables (available in all functions) ---
+# Ensure that relative paths start from the same directory as this script
+_thisDir = os.path.dirname(os.path.abspath(__file__))
+# Store info about the experiment session
+psychopyVersion = '2023.2.3'
+expName = 'grasp_data_collection'  # from the Builder filename that created this script
+expInfo = {
+    'participant': f"{randint(0, 999999):06.0f}",
+    'session': '001',
+    'date': data.getDateStr(),  # add a simple timestamp
+    'expName': expName,
+    'psychopyVersion': psychopyVersion,
+}
+
+
+def showExpInfoDlg(expInfo):
+    """
+    Show participant info dialog.
+    Parameters
+    ==========
+    expInfo : dict
+        Information about this experiment, created by the `setupExpInfo` function.
+    
+    Returns
+    ==========
+    dict
+        Information about this experiment.
+    """
+    # temporarily remove keys which the dialog doesn't need to show
+    poppedKeys = {
+        'date': expInfo.pop('date', data.getDateStr()),
+        'expName': expInfo.pop('expName', expName),
+        'psychopyVersion': expInfo.pop('psychopyVersion', psychopyVersion),
+    }
+    # show participant info dialog
+    dlg = gui.DlgFromDict(dictionary=expInfo, sortKeys=False, title=expName)
+    if dlg.OK == False:
+        core.quit()  # user pressed cancel
+    # restore hidden keys
+    expInfo.update(poppedKeys)
+    # return expInfo
+    return expInfo
+
+
+def setupData(expInfo, dataDir=None):
+    """
+    Make an ExperimentHandler to handle trials and saving.
+    
+    Parameters
+    ==========
+    expInfo : dict
+        Information about this experiment, created by the `setupExpInfo` function.
+    dataDir : Path, str or None
+        Folder to save the data to, leave as None to create a folder in the current directory.    
+    Returns
+    ==========
+    psychopy.data.ExperimentHandler
+        Handler object for this experiment, contains the data to save and information about 
+        where to save it to.
+    """
+    
+    # data file name stem = absolute path + name; later add .psyexp, .csv, .log, etc
+    if dataDir is None:
+        dataDir = _thisDir
+    filename = u'data/%s_%s_%s' % (expInfo['participant'], expName, expInfo['date'])
+    # make sure filename is relative to dataDir
+    if os.path.isabs(filename):
+        dataDir = os.path.commonprefix([dataDir, filename])
+        filename = os.path.relpath(filename, dataDir)
+    
+    # an ExperimentHandler isn't essential but helps with data saving
+    thisExp = data.ExperimentHandler(
+        name=expName, version='',
+        extraInfo=expInfo, runtimeInfo=None,
+        originPath='D:\\Graduate\\kraken\\backend\\grasp_data_collection_no_release.py',
+        savePickle=True, saveWideText=True,
+        dataFileName=dataDir + os.sep + filename, sortColumns='time'
+    )
+    thisExp.setPriority('thisRow.t', priority.CRITICAL)
+    thisExp.setPriority('expName', priority.LOW)
+    # return experiment handler
+    return thisExp
+
+
+def setupLogging(filename):
+    """
+    Setup a log file and tell it what level to log at.
+    
+    Parameters
+    ==========
+    filename : str or pathlib.Path
+        Filename to save log file and data files as, doesn't need an extension.
+    
+    Returns
+    ==========
+    psychopy.logging.LogFile
+        Text stream to receive inputs from the logging system.
+    """
+    # this outputs to the screen, not a file
+    logging.console.setLevel(logging.EXP)
+    # save a log file for detail verbose info
+    logFile = logging.LogFile(filename+'.log', level=logging.EXP)
+    
+    return logFile
+
+
+def setupWindow(expInfo=None, win=None):
+    """
+    Setup the Window
+    
+    Parameters
+    ==========
+    expInfo : dict
+        Information about this experiment, created by the `setupExpInfo` function.
+    win : psychopy.visual.Window
+        Window to setup - leave as None to create a new window.
+    
+    Returns
+    ==========
+    psychopy.visual.Window
+        Window in which to run this experiment.
+    """
+    if win is None:
+        # if not given a window to setup, make one
+        win = visual.Window(
+            size=[1707, 1067], fullscr=True, screen=0,
+            winType='pyglet', allowStencil=False,
+            monitor='testMonitor', color=[1,1,1], colorSpace='rgb',
+            backgroundImage='', backgroundFit='none',
+            blendMode='avg', useFBO=True,
+            units='height'
+        )
+        if expInfo is not None:
+            # store frame rate of monitor if we can measure it
+            expInfo['frameRate'] = win.getActualFrameRate()
+    else:
+        # if we have a window, just set the attributes which are safe to set
+        win.color = [1,1,1]
+        win.colorSpace = 'rgb'
+        win.backgroundImage = ''
+        win.backgroundFit = 'none'
+        win.units = 'height'
+    win.mouseVisible = False
+    win.hideMessage()
+    return win
+
+
+def setupInputs(expInfo, thisExp, win):
+    """
+    Setup whatever inputs are available (mouse, keyboard, eyetracker, etc.)
+    
+    Parameters
+    ==========
+    expInfo : dict
+        Information about this experiment, created by the `setupExpInfo` function.
+    thisExp : psychopy.data.ExperimentHandler
+        Handler object for this experiment, contains the data to save and information about 
+        where to save it to.
+    win : psychopy.visual.Window
+        Window in which to run this experiment.
+    Returns
+    ==========
+    dict
+        Dictionary of input devices by name.
+    """
+    # --- Setup input devices ---
+    inputs = {}
+    ioConfig = {}
+    
+    # Setup iohub keyboard
+    ioConfig['Keyboard'] = dict(use_keymap='psychopy')
+    
+    ioSession = '1'
+    if 'session' in expInfo:
+        ioSession = str(expInfo['session'])
+    ioServer = io.launchHubServer(window=win, **ioConfig)
+    eyetracker = None
+    
+    # create a default keyboard (e.g. to check for escape)
+    defaultKeyboard = keyboard.Keyboard(backend='iohub')
+    # return inputs dict
+    return {
+        'ioServer': ioServer,
+        'defaultKeyboard': defaultKeyboard,
+        'eyetracker': eyetracker,
+    }
+
+def pauseExperiment(thisExp, inputs=None, win=None, timers=[], playbackComponents=[]):
+    """
+    Pause this experiment, preventing the flow from advancing to the next routine until resumed.
+    
+    Parameters
+    ==========
+    thisExp : psychopy.data.ExperimentHandler
+        Handler object for this experiment, contains the data to save and information about 
+        where to save it to.
+    inputs : dict
+        Dictionary of input devices by name.
+    win : psychopy.visual.Window
+        Window for this experiment.
+    timers : list, tuple
+        List of timers to reset once pausing is finished.
+    playbackComponents : list, tuple
+        List of any components with a `pause` method which need to be paused.
+    """
+    # if we are not paused, do nothing
+    if thisExp.status != PAUSED:
+        return
+    
+    # pause any playback components
+    for comp in playbackComponents:
+        comp.pause()
+    # prevent components from auto-drawing
+    win.stashAutoDraw()
+    # run a while loop while we wait to unpause
+    while thisExp.status == PAUSED:
+        # make sure we have a keyboard
+        if inputs is None:
+            inputs = {
+                'defaultKeyboard': keyboard.Keyboard(backend='ioHub')
+            }
+        # check for quit (typically the Esc key)
+        if inputs['defaultKeyboard'].getKeys(keyList=['escape']):
+            endExperiment(thisExp, win=win, inputs=inputs)
+        # flip the screen
+        win.flip()
+    # if stop was requested while paused, quit
+    if thisExp.status == FINISHED:
+        endExperiment(thisExp, inputs=inputs, win=win)
+    # resume any playback components
+    for comp in playbackComponents:
+        comp.play()
+    # restore auto-drawn components
+    win.retrieveAutoDraw()
+    # reset any timers
+    for timer in timers:
+        timer.reset()
+
+
+def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
+    """
+    Run the experiment flow.
+    
+    Parameters
+    ==========
+    expInfo : dict
+        Information about this experiment, created by the `setupExpInfo` function.
+    thisExp : psychopy.data.ExperimentHandler
+        Handler object for this experiment, contains the data to save and information about 
+        where to save it to.
+    psychopy.visual.Window
+        Window in which to run this experiment.
+    inputs : dict
+        Dictionary of input devices by name.
+    globalClock : psychopy.core.clock.Clock or None
+        Clock to get global time from - supply None to make a new one.
+    thisSession : psychopy.session.Session or None
+        Handle of the Session object this experiment is being run from, if any.
+    """
+    # mark experiment as started
+    thisExp.status = STARTED
+    # make sure variables created by exec are available globally
+    exec = environmenttools.setExecEnvironment(globals())
+    # get device handles from dict of input devices
+    ioServer = inputs['ioServer']
+    defaultKeyboard = inputs['defaultKeyboard']
+    eyetracker = inputs['eyetracker']
+    # make sure we're running in the directory for this experiment
+    os.chdir(_thisDir)
+    # get filename from ExperimentHandler for convenience
+    filename = thisExp.dataFileName
+    frameTolerance = 0.001  # how close to onset before 'same' frame
+    endExpNow = False  # flag for 'escape' or other condition => quit the exp
+    # get frame duration from frame rate in expInfo
+    if 'frameRate' in expInfo and expInfo['frameRate'] is not None:
+        frameDur = 1.0 / round(expInfo['frameRate'])
+    else:
+        frameDur = 1.0 / 60.0  # could not measure, so guess
+    
+    # Start Code - component code to be run after the window creation
+    
+    # --- Initialize components for Routine "prepare" ---
+    text = visual.TextStim(win=win, name='text',
+        text='抓握训练即将开始\n如果准备好了，请按空格键',
+        font='Open Sans',
+        pos=(0, 0), height=0.05, wrapWidth=None, ori=0.0, 
+        color='black', colorSpace='rgb', opacity=1.0, 
+        languageStyle='LTR',
+        depth=0.0);
+    key_resp = keyboard.Keyboard()
+    
+    # --- Initialize components for Routine "ready" ---
+    ready_text = visual.TextStim(win=win, name='ready_text',
+        text='请准备',
+        font='Open Sans',
+        pos=(0, 0), height=0.05, wrapWidth=None, ori=0.0, 
+        color='black', colorSpace='rgb', opacity=None, 
+        languageStyle='LTR',
+        depth=0.0);
+    
+    # --- Initialize components for Routine "flex" ---
+    flex_img = visual.ImageStim(
+        win=win,
+        name='flex_img', 
+        image='static/images/flex.png', mask=None, anchor='center',
+        ori=0.0, pos=(0, 0), size=(0.5, 0.5),
+        color=[1,1,1], colorSpace='rgb', opacity=None,
+        flipHoriz=False, flipVert=False,
+        texRes=128.0, interpolate=True, depth=0.0)
+    flex_wav = sound.Sound('static/audios/flex.wav', secs=2, stereo=True, hamming=True,
+        name='flex_wav')
+    flex_wav.setVolume(1.0)
+    attention = sound.Sound('static/audios/ding.wav', secs=1.0, stereo=True, hamming=True,
+        name='attention')
+    attention.setVolume(1.0)
+    
+    # --- Initialize components for Routine "hold" ---
+    hold_img = visual.ImageStim(
+        win=win,
+        name='hold_img', 
+        image='static/images/hold.png', mask=None, anchor='center',
+        ori=0.0, pos=(0, 0), size=(0.5, 0.5),
+        color=[1,1,1], colorSpace='rgb', opacity=None,
+        flipHoriz=False, flipVert=False,
+        texRes=128.0, interpolate=True, depth=0.0)
+    hold_wav = sound.Sound('static/audios/hold.wav', secs=-1, stereo=True, hamming=True,
+        name='hold_wav')
+    hold_wav.setVolume(1.0)
+    
+    # --- Initialize components for Routine "extend" ---
+    extend_img = visual.ImageStim(
+        win=win,
+        name='extend_img', 
+        image='static/images/extend.png', mask=None, anchor='center',
+        ori=0.0, pos=(0, 0), size=(0.5, 0.5),
+        color=[1,1,1], colorSpace='rgb', opacity=None,
+        flipHoriz=False, flipVert=False,
+        texRes=128.0, interpolate=True, depth=0.0)
+    extend_wav = sound.Sound('static/audios/extend.wav', secs=2, stereo=True, hamming=True,
+        name='extend_wav')
+    extend_wav.setVolume(1.0)
+    
+    # --- Initialize components for Routine "rest" ---
+    rest_img = visual.ImageStim(
+        win=win,
+        name='rest_img', 
+        image='static/images/rest.png', mask=None, anchor='center',
+        ori=0.0, pos=(0, 0), size=(0.5, 0.5),
+        color=[1,1,1], colorSpace='rgb', opacity=None,
+        flipHoriz=False, flipVert=False,
+        texRes=128.0, interpolate=True, depth=0.0)
+    rest_wav1 = sound.Sound('static/audios/rest.wav', secs=2, stereo=True, hamming=True,
+        name='rest_wav1')
+    rest_wav1.setVolume(1.0)
+    
+    # --- Initialize components for Routine "end" ---
+    end_text = visual.TextStim(win=win, name='end_text',
+        text='恭喜您！\n完成训练！',
+        font='Open Sans',
+        pos=(0, 0), height=0.05, wrapWidth=None, ori=0.0, 
+        color='black', colorSpace='rgb', opacity=1.0, 
+        languageStyle='LTR',
+        depth=0.0);
+    
+    # create some handy timers
+    if globalClock is None:
+        globalClock = core.Clock()  # to track the time since experiment started
+    if ioServer is not None:
+        ioServer.syncClock(globalClock)
+    logging.setDefaultClock(globalClock)
+    routineTimer = core.Clock()  # to track time remaining of each (possibly non-slip) routine
+    win.flip()  # flip window to reset last flip timer
+    # store the exact time the global clock started
+    expInfo['expStart'] = data.getDateStr(format='%Y-%m-%d %Hh%M.%S.%f %z', fractionalSecondDigits=6)
+    
+    # --- Prepare to start Routine "prepare" ---
+    continueRoutine = True
+    # update component parameters for each repeat
+    thisExp.addData('prepare.started', globalClock.getTime())
+    key_resp.keys = []
+    key_resp.rt = []
+    _key_resp_allKeys = []
+    # Run 'Begin Routine' code from config
+    
+    
+    # keep track of which components have finished
+    prepareComponents = [text, key_resp]
+    for thisComponent in prepareComponents:
+        thisComponent.tStart = None
+        thisComponent.tStop = None
+        thisComponent.tStartRefresh = None
+        thisComponent.tStopRefresh = None
+        if hasattr(thisComponent, 'status'):
+            thisComponent.status = NOT_STARTED
+    # reset timers
+    t = 0
+    _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+    frameN = -1
+    
+    # --- Run Routine "prepare" ---
+    routineForceEnded = not continueRoutine
+    while continueRoutine:
+        # get current time
+        t = routineTimer.getTime()
+        tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+        tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+        frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+        # update/draw components on each frame
+        
+        # *text* updates
+        
+        # if text is starting this frame...
+        if text.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+            # keep track of start time/frame for later
+            text.frameNStart = frameN  # exact frame index
+            text.tStart = t  # local t and not account for scr refresh
+            text.tStartRefresh = tThisFlipGlobal  # on global time
+            win.timeOnFlip(text, 'tStartRefresh')  # time at next scr refresh
+            # add timestamp to datafile
+            thisExp.timestampOnFlip(win, 'text.started')
+            # update status
+            text.status = STARTED
+            text.setAutoDraw(True)
+        
+        # if text is active this frame...
+        if text.status == STARTED:
+            # update params
+            pass
+        
+        # *key_resp* updates
+        waitOnFlip = False
+        
+        # if key_resp is starting this frame...
+        if key_resp.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+            # keep track of start time/frame for later
+            key_resp.frameNStart = frameN  # exact frame index
+            key_resp.tStart = t  # local t and not account for scr refresh
+            key_resp.tStartRefresh = tThisFlipGlobal  # on global time
+            win.timeOnFlip(key_resp, 'tStartRefresh')  # time at next scr refresh
+            # add timestamp to datafile
+            thisExp.timestampOnFlip(win, 'key_resp.started')
+            # update status
+            key_resp.status = STARTED
+            # keyboard checking is just starting
+            waitOnFlip = True
+            win.callOnFlip(key_resp.clock.reset)  # t=0 on next screen flip
+            win.callOnFlip(key_resp.clearEvents, eventType='keyboard')  # clear events on next screen flip
+        if key_resp.status == STARTED and not waitOnFlip:
+            theseKeys = key_resp.getKeys(keyList=['space'], ignoreKeys=["escape"], waitRelease=False)
+            _key_resp_allKeys.extend(theseKeys)
+            if len(_key_resp_allKeys):
+                key_resp.keys = _key_resp_allKeys[-1].name  # just the last key pressed
+                key_resp.rt = _key_resp_allKeys[-1].rt
+                key_resp.duration = _key_resp_allKeys[-1].duration
+                # a response ends the routine
+                continueRoutine = False
+        
+        # check for quit (typically the Esc key)
+        if defaultKeyboard.getKeys(keyList=["escape"]):
+            thisExp.status = FINISHED
+        if thisExp.status == FINISHED or endExpNow:
+            endExperiment(thisExp, inputs=inputs, win=win)
+            return
+        
+        # check if all components have finished
+        if not continueRoutine:  # a component has requested a forced-end of Routine
+            routineForceEnded = True
+            break
+        continueRoutine = False  # will revert to True if at least one component still running
+        for thisComponent in prepareComponents:
+            if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                continueRoutine = True
+                break  # at least one component has not yet finished
+        
+        # refresh the screen
+        if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+            win.flip()
+    
+    # --- Ending Routine "prepare" ---
+    for thisComponent in prepareComponents:
+        if hasattr(thisComponent, "setAutoDraw"):
+            thisComponent.setAutoDraw(False)
+    thisExp.addData('prepare.stopped', globalClock.getTime())
+    # check responses
+    if key_resp.keys in ['', [], None]:  # No response was made
+        key_resp.keys = None
+    thisExp.addData('key_resp.keys',key_resp.keys)
+    if key_resp.keys != None:  # we had a response
+        thisExp.addData('key_resp.rt', key_resp.rt)
+        thisExp.addData('key_resp.duration', key_resp.duration)
+    thisExp.nextEntry()
+    # the Routine "prepare" was not non-slip safe, so reset the non-slip timer
+    routineTimer.reset()
+    
+    # set up handler to look after randomisation of conditions etc
+    trials = data.TrialHandler(nReps=args.n_trials, method='random', 
+        extraInfo=expInfo, originPath=-1,
+        trialList=[None],
+        seed=None, name='trials')
+    thisExp.addLoop(trials)  # add the loop to the experiment
+    thisTrial = trials.trialList[0]  # so we can initialise stimuli with some values
+    # abbreviate parameter names if possible (e.g. rgb = thisTrial.rgb)
+    if thisTrial != None:
+        for paramName in thisTrial:
+            globals()[paramName] = thisTrial[paramName]
+    
+    for thisTrial in trials:
+        currentLoop = trials
+        thisExp.timestampOnFlip(win, 'thisRow.t')
+        # pause experiment here if requested
+        if thisExp.status == PAUSED:
+            pauseExperiment(
+                thisExp=thisExp, 
+                inputs=inputs, 
+                win=win, 
+                timers=[routineTimer], 
+                playbackComponents=[]
+        )
+        # abbreviate parameter names if possible (e.g. rgb = thisTrial.rgb)
+        if thisTrial != None:
+            for paramName in thisTrial:
+                globals()[paramName] = thisTrial[paramName]
+        
+        # --- Prepare to start Routine "ready" ---
+        continueRoutine = True
+        # update component parameters for each repeat
+        thisExp.addData('ready.started', globalClock.getTime())
+        # keep track of which components have finished
+        readyComponents = [ready_text]
+        for thisComponent in readyComponents:
+            thisComponent.tStart = None
+            thisComponent.tStop = None
+            thisComponent.tStartRefresh = None
+            thisComponent.tStopRefresh = None
+            if hasattr(thisComponent, 'status'):
+                thisComponent.status = NOT_STARTED
+        # reset timers
+        t = 0
+        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+        frameN = -1
+        
+        # --- Run Routine "ready" ---
+        routineForceEnded = not continueRoutine
+        while continueRoutine and routineTimer.getTime() < 1.5:
+            # get current time
+            t = routineTimer.getTime()
+            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+            # update/draw components on each frame
+            
+            # *ready_text* updates
+            
+            # if ready_text is starting this frame...
+            if ready_text.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+                # keep track of start time/frame for later
+                ready_text.frameNStart = frameN  # exact frame index
+                ready_text.tStart = t  # local t and not account for scr refresh
+                ready_text.tStartRefresh = tThisFlipGlobal  # on global time
+                win.timeOnFlip(ready_text, 'tStartRefresh')  # time at next scr refresh
+                # add timestamp to datafile
+                thisExp.timestampOnFlip(win, 'ready_text.started')
+                # update status
+                ready_text.status = STARTED
+                ready_text.setAutoDraw(True)
+            
+            # if ready_text is active this frame...
+            if ready_text.status == STARTED:
+                # update params
+                pass
+            
+            # if ready_text is stopping this frame...
+            if ready_text.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > ready_text.tStartRefresh + 1.5-frameTolerance:
+                    # keep track of stop time/frame for later
+                    ready_text.tStop = t  # not accounting for scr refresh
+                    ready_text.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'ready_text.stopped')
+                    # update status
+                    ready_text.status = FINISHED
+                    ready_text.setAutoDraw(False)
+            
+            # check for quit (typically the Esc key)
+            if defaultKeyboard.getKeys(keyList=["escape"]):
+                thisExp.status = FINISHED
+            if thisExp.status == FINISHED or endExpNow:
+                endExperiment(thisExp, inputs=inputs, win=win)
+                return
+            
+            # check if all components have finished
+            if not continueRoutine:  # a component has requested a forced-end of Routine
+                routineForceEnded = True
+                break
+            continueRoutine = False  # will revert to True if at least one component still running
+            for thisComponent in readyComponents:
+                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                    continueRoutine = True
+                    break  # at least one component has not yet finished
+            
+            # refresh the screen
+            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+                win.flip()
+        
+        # --- Ending Routine "ready" ---
+        for thisComponent in readyComponents:
+            if hasattr(thisComponent, "setAutoDraw"):
+                thisComponent.setAutoDraw(False)
+        thisExp.addData('ready.stopped', globalClock.getTime())
+        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
+        if routineForceEnded:
+            routineTimer.reset()
+        else:
+            routineTimer.addTime(-1.500000)
+        
+        # --- Prepare to start Routine "flex" ---
+        continueRoutine = True
+        # update component parameters for each repeat
+        thisExp.addData('flex.started', globalClock.getTime())
+        # Run 'Begin Routine' code from code_2
+        i = 0
+        
+        flex_wav.setSound('static/audios/flex.wav', secs=2, hamming=True)
+        flex_wav.setVolume(1.0, log=False)
+        flex_wav.seek(0)
+        attention.setSound('static/audios/ding.wav', secs=1.0, hamming=True)
+        attention.setVolume(1.0, log=False)
+        attention.seek(0)
+        # keep track of which components have finished
+        flexComponents = [flex_img, flex_wav, attention]
+        for thisComponent in flexComponents:
+            thisComponent.tStart = None
+            thisComponent.tStop = None
+            thisComponent.tStartRefresh = None
+            thisComponent.tStopRefresh = None
+            if hasattr(thisComponent, 'status'):
+                thisComponent.status = NOT_STARTED
+        # reset timers
+        t = 0
+        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+        frameN = -1
+        
+        # --- Run Routine "flex" ---
+        routineForceEnded = not continueRoutine
+        while continueRoutine and routineTimer.getTime() < 7.0:
+            # get current time
+            t = routineTimer.getTime()
+            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+            # update/draw components on each frame
+            
+            # *flex_img* updates
+            
+            # if flex_img is starting this frame...
+            if flex_img.status == NOT_STARTED and tThisFlip >= 1-frameTolerance:
+                # keep track of start time/frame for later
+                flex_img.frameNStart = frameN  # exact frame index
+                flex_img.tStart = t  # local t and not account for scr refresh
+                flex_img.tStartRefresh = tThisFlipGlobal  # on global time
+                win.timeOnFlip(flex_img, 'tStartRefresh')  # time at next scr refresh
+                # add timestamp to datafile
+                thisExp.timestampOnFlip(win, 'flex_img.started')
+                # update status
+                flex_img.status = STARTED
+                flex_img.setAutoDraw(True)
+            
+            # if flex_img is active this frame...
+            if flex_img.status == STARTED:
+                # update params
+                pass
+            
+            # if flex_img is stopping this frame...
+            if flex_img.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > flex_img.tStartRefresh + 6-frameTolerance:
+                    # keep track of stop time/frame for later
+                    flex_img.tStop = t  # not accounting for scr refresh
+                    flex_img.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'flex_img.stopped')
+                    # update status
+                    flex_img.status = FINISHED
+                    flex_img.setAutoDraw(False)
+            # Run 'Each Frame' code from code_2
+            if i == 119:
+                hand_device.start(args.finger_model)
+                # trigger
+                current_true_label = settings.FINGERMODEL_IDS[args.finger_model]
+                win.callOnFlip(trigger.send_trigger, current_true_label)
+            
+            i += 1
+            
+            # 每轮开始前空白等待1s + 反应时1s + 新版flex时间4.5s + 0.5s裕量 = 7s。
+            # flex trigger打出5s（flex图片显示7s）后，hold图片显示。
+            
+            
+            # if flex_wav is starting this frame...
+            if flex_wav.status == NOT_STARTED and tThisFlip >= 1.8-frameTolerance:
+                # keep track of start time/frame for later
+                flex_wav.frameNStart = frameN  # exact frame index
+                flex_wav.tStart = t  # local t and not account for scr refresh
+                flex_wav.tStartRefresh = tThisFlipGlobal  # on global time
+                # add timestamp to datafile
+                thisExp.addData('flex_wav.started', tThisFlipGlobal)
+                # update status
+                flex_wav.status = STARTED
+                flex_wav.play(when=win)  # sync with win flip
+            
+            # if flex_wav is stopping this frame...
+            if flex_wav.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > flex_wav.tStartRefresh + 2-frameTolerance:
+                    # keep track of stop time/frame for later
+                    flex_wav.tStop = t  # not accounting for scr refresh
+                    flex_wav.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'flex_wav.stopped')
+                    # update status
+                    flex_wav.status = FINISHED
+                    flex_wav.stop()
+            # update flex_wav status according to whether it's playing
+            if flex_wav.isPlaying:
+                flex_wav.status = STARTED
+            elif flex_wav.isFinished:
+                flex_wav.status = FINISHED
+            
+            # if attention is starting this frame...
+            if attention.status == NOT_STARTED and tThisFlip >= 1-frameTolerance:
+                # keep track of start time/frame for later
+                attention.frameNStart = frameN  # exact frame index
+                attention.tStart = t  # local t and not account for scr refresh
+                attention.tStartRefresh = tThisFlipGlobal  # on global time
+                # add timestamp to datafile
+                thisExp.addData('attention.started', tThisFlipGlobal)
+                # update status
+                attention.status = STARTED
+                attention.play(when=win)  # sync with win flip
+            
+            # if attention is stopping this frame...
+            if attention.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > attention.tStartRefresh + 1.0-frameTolerance:
+                    # keep track of stop time/frame for later
+                    attention.tStop = t  # not accounting for scr refresh
+                    attention.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'attention.stopped')
+                    # update status
+                    attention.status = FINISHED
+                    attention.stop()
+            # update attention status according to whether it's playing
+            if attention.isPlaying:
+                attention.status = STARTED
+            elif attention.isFinished:
+                attention.status = FINISHED
+            
+            # check for quit (typically the Esc key)
+            if defaultKeyboard.getKeys(keyList=["escape"]):
+                thisExp.status = FINISHED
+            if thisExp.status == FINISHED or endExpNow:
+                endExperiment(thisExp, inputs=inputs, win=win)
+                return
+            
+            # check if all components have finished
+            if not continueRoutine:  # a component has requested a forced-end of Routine
+                routineForceEnded = True
+                break
+            continueRoutine = False  # will revert to True if at least one component still running
+            for thisComponent in flexComponents:
+                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                    continueRoutine = True
+                    break  # at least one component has not yet finished
+            
+            # refresh the screen
+            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+                win.flip()
+        
+        # --- Ending Routine "flex" ---
+        for thisComponent in flexComponents:
+            if hasattr(thisComponent, "setAutoDraw"):
+                thisComponent.setAutoDraw(False)
+        thisExp.addData('flex.stopped', globalClock.getTime())
+        flex_wav.pause()  # ensure sound has stopped at end of Routine
+        attention.pause()  # ensure sound has stopped at end of Routine
+        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
+        if routineForceEnded:
+            routineTimer.reset()
+        else:
+            routineTimer.addTime(-7.000000)
+        
+        # --- Prepare to start Routine "hold" ---
+        continueRoutine = True
+        # update component parameters for each repeat
+        thisExp.addData('hold.started', globalClock.getTime())
+        # Run 'Begin Routine' code from code_3
+        win.callOnFlip(trigger.send_trigger, settings.FINGERMODEL_IDS['hold'])
+        # hold trigger（图片）后5s，出现extend图片
+        hold_wav.setSound('static/audios/hold.wav', secs=2.5, hamming=True)
+        hold_wav.setVolume(1.0, log=False)
+        hold_wav.seek(0)
+        # keep track of which components have finished
+        holdComponents = [hold_img, hold_wav]
+        for thisComponent in holdComponents:
+            thisComponent.tStart = None
+            thisComponent.tStop = None
+            thisComponent.tStartRefresh = None
+            thisComponent.tStopRefresh = None
+            if hasattr(thisComponent, 'status'):
+                thisComponent.status = NOT_STARTED
+        # reset timers
+        t = 0
+        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+        frameN = -1
+        
+        # --- Run Routine "hold" ---
+        routineForceEnded = not continueRoutine
+        while continueRoutine and routineTimer.getTime() < 5.0:
+            # get current time
+            t = routineTimer.getTime()
+            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+            # update/draw components on each frame
+            
+            # *hold_img* updates
+            
+            # if hold_img is starting this frame...
+            if hold_img.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+                # keep track of start time/frame for later
+                hold_img.frameNStart = frameN  # exact frame index
+                hold_img.tStart = t  # local t and not account for scr refresh
+                hold_img.tStartRefresh = tThisFlipGlobal  # on global time
+                win.timeOnFlip(hold_img, 'tStartRefresh')  # time at next scr refresh
+                # add timestamp to datafile
+                thisExp.timestampOnFlip(win, 'hold_img.started')
+                # update status
+                hold_img.status = STARTED
+                hold_img.setAutoDraw(True)
+            
+            # if hold_img is active this frame...
+            if hold_img.status == STARTED:
+                # update params
+                pass
+            
+            # if hold_img is stopping this frame...
+            if hold_img.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > hold_img.tStartRefresh + 5-frameTolerance:
+                    # keep track of stop time/frame for later
+                    hold_img.tStop = t  # not accounting for scr refresh
+                    hold_img.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'hold_img.stopped')
+                    # update status
+                    hold_img.status = FINISHED
+                    hold_img.setAutoDraw(False)
+            
+            # if hold_wav is starting this frame...
+            if hold_wav.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+                # keep track of start time/frame for later
+                hold_wav.frameNStart = frameN  # exact frame index
+                hold_wav.tStart = t  # local t and not account for scr refresh
+                hold_wav.tStartRefresh = tThisFlipGlobal  # on global time
+                # add timestamp to datafile
+                thisExp.addData('hold_wav.started', tThisFlipGlobal)
+                # update status
+                hold_wav.status = STARTED
+                hold_wav.play(when=win)  # sync with win flip
+            
+            # if hold_wav is stopping this frame...
+            if hold_wav.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > hold_wav.tStartRefresh + 2.5-frameTolerance:
+                    # keep track of stop time/frame for later
+                    hold_wav.tStop = t  # not accounting for scr refresh
+                    hold_wav.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'hold_wav.stopped')
+                    # update status
+                    hold_wav.status = FINISHED
+                    hold_wav.stop()
+            # update hold_wav status according to whether it's playing
+            if hold_wav.isPlaying:
+                hold_wav.status = STARTED
+            elif hold_wav.isFinished:
+                hold_wav.status = FINISHED
+            
+            # check for quit (typically the Esc key)
+            if defaultKeyboard.getKeys(keyList=["escape"]):
+                thisExp.status = FINISHED
+            if thisExp.status == FINISHED or endExpNow:
+                endExperiment(thisExp, inputs=inputs, win=win)
+                return
+            
+            # check if all components have finished
+            if not continueRoutine:  # a component has requested a forced-end of Routine
+                routineForceEnded = True
+                break
+            continueRoutine = False  # will revert to True if at least one component still running
+            for thisComponent in holdComponents:
+                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                    continueRoutine = True
+                    break  # at least one component has not yet finished
+            
+            # refresh the screen
+            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+                win.flip()
+        
+        # --- Ending Routine "hold" ---
+        for thisComponent in holdComponents:
+            if hasattr(thisComponent, "setAutoDraw"):
+                thisComponent.setAutoDraw(False)
+        thisExp.addData('hold.stopped', globalClock.getTime())
+        hold_wav.pause()  # ensure sound has stopped at end of Routine
+        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
+        if routineForceEnded:
+            routineTimer.reset()
+        else:
+            routineTimer.addTime(-5.000000)
+        
+        # --- Prepare to start Routine "extend" ---
+        continueRoutine = True
+        # update component parameters for each repeat
+        thisExp.addData('extend.started', globalClock.getTime())
+        # Run 'Begin Routine' code from code
+        i = 0
+        
+        extend_wav.setSound('static/audios/extend.wav', secs=2, hamming=True)
+        extend_wav.setVolume(1.0, log=False)
+        extend_wav.seek(0)
+        # keep track of which components have finished
+        extendComponents = [extend_img, extend_wav]
+        for thisComponent in extendComponents:
+            thisComponent.tStart = None
+            thisComponent.tStop = None
+            thisComponent.tStartRefresh = None
+            thisComponent.tStopRefresh = None
+            if hasattr(thisComponent, 'status'):
+                thisComponent.status = NOT_STARTED
+        # reset timers
+        t = 0
+        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+        frameN = -1
+        
+        # --- Run Routine "extend" ---
+        routineForceEnded = not continueRoutine
+        while continueRoutine and routineTimer.getTime() < 6.0:
+            # get current time
+            t = routineTimer.getTime()
+            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+            # update/draw components on each frame
+            
+            # *extend_img* updates
+            
+            # if extend_img is starting this frame...
+            if extend_img.status == NOT_STARTED and tThisFlip >= 0-frameTolerance:
+                # keep track of start time/frame for later
+                extend_img.frameNStart = frameN  # exact frame index
+                extend_img.tStart = t  # local t and not account for scr refresh
+                extend_img.tStartRefresh = tThisFlipGlobal  # on global time
+                win.timeOnFlip(extend_img, 'tStartRefresh')  # time at next scr refresh
+                # add timestamp to datafile
+                thisExp.timestampOnFlip(win, 'extend_img.started')
+                # update status
+                extend_img.status = STARTED
+                extend_img.setAutoDraw(True)
+            
+            # if extend_img is active this frame...
+            if extend_img.status == STARTED:
+                # update params
+                pass
+            
+            # if extend_img is stopping this frame...
+            if extend_img.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > extend_img.tStartRefresh + 6-frameTolerance:
+                    # keep track of stop time/frame for later
+                    extend_img.tStop = t  # not accounting for scr refresh
+                    extend_img.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'extend_img.stopped')
+                    # update status
+                    extend_img.status = FINISHED
+                    extend_img.setAutoDraw(False)
+            # Run 'Each Frame' code from code
+            if i== 59:
+                hand_device.start('extend')
+                # send trigger
+                current_true_label = settings.FINGERMODEL_IDS['extend']
+                win.callOnFlip(trigger.send_trigger, current_true_label)
+            
+            i += 1    
+            # 反应时1s + 新版extend时间4.5s + 0.5s裕量 = 6s
+            # extend 图片出现后6s，extend trigger后5s，rest图片出现
+            
+            # if extend_wav is starting this frame...
+            if extend_wav.status == NOT_STARTED and tThisFlip >= 0-frameTolerance:
+                # keep track of start time/frame for later
+                extend_wav.frameNStart = frameN  # exact frame index
+                extend_wav.tStart = t  # local t and not account for scr refresh
+                extend_wav.tStartRefresh = tThisFlipGlobal  # on global time
+                # add timestamp to datafile
+                thisExp.addData('extend_wav.started', tThisFlipGlobal)
+                # update status
+                extend_wav.status = STARTED
+                extend_wav.play(when=win)  # sync with win flip
+            
+            # if extend_wav is stopping this frame...
+            if extend_wav.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > extend_wav.tStartRefresh + 2-frameTolerance:
+                    # keep track of stop time/frame for later
+                    extend_wav.tStop = t  # not accounting for scr refresh
+                    extend_wav.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'extend_wav.stopped')
+                    # update status
+                    extend_wav.status = FINISHED
+                    extend_wav.stop()
+            # update extend_wav status according to whether it's playing
+            if extend_wav.isPlaying:
+                extend_wav.status = STARTED
+            elif extend_wav.isFinished:
+                extend_wav.status = FINISHED
+            
+            # check for quit (typically the Esc key)
+            if defaultKeyboard.getKeys(keyList=["escape"]):
+                thisExp.status = FINISHED
+            if thisExp.status == FINISHED or endExpNow:
+                endExperiment(thisExp, inputs=inputs, win=win)
+                return
+            
+            # check if all components have finished
+            if not continueRoutine:  # a component has requested a forced-end of Routine
+                routineForceEnded = True
+                break
+            continueRoutine = False  # will revert to True if at least one component still running
+            for thisComponent in extendComponents:
+                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                    continueRoutine = True
+                    break  # at least one component has not yet finished
+            
+            # refresh the screen
+            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+                win.flip()
+        
+        # --- Ending Routine "extend" ---
+        for thisComponent in extendComponents:
+            if hasattr(thisComponent, "setAutoDraw"):
+                thisComponent.setAutoDraw(False)
+        thisExp.addData('extend.stopped', globalClock.getTime())
+        extend_wav.pause()  # ensure sound has stopped at end of Routine
+        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
+        if routineForceEnded:
+            routineTimer.reset()
+        else:
+            routineTimer.addTime(-6.000000)
+        
+        # --- Prepare to start Routine "rest" ---
+        continueRoutine = True
+        # update component parameters for each repeat
+        thisExp.addData('rest.started', globalClock.getTime())
+        # Run 'Begin Routine' code from code_4
+        i = 0
+        rest_wav1.setSound('static/audios/rest.wav', secs=2, hamming=True)
+        rest_wav1.setVolume(1.0, log=False)
+        rest_wav1.seek(0)
+        # keep track of which components have finished
+        restComponents = [rest_img, rest_wav1]
+        for thisComponent in restComponents:
+            thisComponent.tStart = None
+            thisComponent.tStop = None
+            thisComponent.tStartRefresh = None
+            thisComponent.tStopRefresh = None
+            if hasattr(thisComponent, 'status'):
+                thisComponent.status = NOT_STARTED
+        # reset timers
+        t = 0
+        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+        frameN = -1
+        
+        # --- Run Routine "rest" ---
+        routineForceEnded = not continueRoutine
+        while continueRoutine and routineTimer.getTime() < 6.0:
+            # get current time
+            t = routineTimer.getTime()
+            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+            # update/draw components on each frame
+            
+            # *rest_img* updates
+            
+            # if rest_img is starting this frame...
+            if rest_img.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+                # keep track of start time/frame for later
+                rest_img.frameNStart = frameN  # exact frame index
+                rest_img.tStart = t  # local t and not account for scr refresh
+                rest_img.tStartRefresh = tThisFlipGlobal  # on global time
+                win.timeOnFlip(rest_img, 'tStartRefresh')  # time at next scr refresh
+                # add timestamp to datafile
+                thisExp.timestampOnFlip(win, 'rest_img.started')
+                # update status
+                rest_img.status = STARTED
+                rest_img.setAutoDraw(True)
+            
+            # if rest_img is active this frame...
+            if rest_img.status == STARTED:
+                # update params
+                pass
+            
+            # if rest_img is stopping this frame...
+            if rest_img.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > rest_img.tStartRefresh + 6-frameTolerance:
+                    # keep track of stop time/frame for later
+                    rest_img.tStop = t  # not accounting for scr refresh
+                    rest_img.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'rest_img.stopped')
+                    # update status
+                    rest_img.status = FINISHED
+                    rest_img.setAutoDraw(False)
+            # Run 'Each Frame' code from code_4
+            if i== 59:
+            #    hand_device.start('rest')
+                # trigger
+                win.callOnFlip(trigger.send_trigger, settings.FINGERMODEL_IDS['rest'])
+            
+            i += 1
+            
+            # if rest_wav1 is starting this frame...
+            if rest_wav1.status == NOT_STARTED and tThisFlip >= 0-frameTolerance:
+                # keep track of start time/frame for later
+                rest_wav1.frameNStart = frameN  # exact frame index
+                rest_wav1.tStart = t  # local t and not account for scr refresh
+                rest_wav1.tStartRefresh = tThisFlipGlobal  # on global time
+                # add timestamp to datafile
+                thisExp.addData('rest_wav1.started', tThisFlipGlobal)
+                # update status
+                rest_wav1.status = STARTED
+                rest_wav1.play(when=win)  # sync with win flip
+            
+            # if rest_wav1 is stopping this frame...
+            if rest_wav1.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > rest_wav1.tStartRefresh + 2-frameTolerance:
+                    # keep track of stop time/frame for later
+                    rest_wav1.tStop = t  # not accounting for scr refresh
+                    rest_wav1.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'rest_wav1.stopped')
+                    # update status
+                    rest_wav1.status = FINISHED
+                    rest_wav1.stop()
+            # update rest_wav1 status according to whether it's playing
+            if rest_wav1.isPlaying:
+                rest_wav1.status = STARTED
+            elif rest_wav1.isFinished:
+                rest_wav1.status = FINISHED
+            
+            # check for quit (typically the Esc key)
+            if defaultKeyboard.getKeys(keyList=["escape"]):
+                thisExp.status = FINISHED
+            if thisExp.status == FINISHED or endExpNow:
+                endExperiment(thisExp, inputs=inputs, win=win)
+                return
+            
+            # check if all components have finished
+            if not continueRoutine:  # a component has requested a forced-end of Routine
+                routineForceEnded = True
+                break
+            continueRoutine = False  # will revert to True if at least one component still running
+            for thisComponent in restComponents:
+                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                    continueRoutine = True
+                    break  # at least one component has not yet finished
+            
+            # refresh the screen
+            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+                win.flip()
+        
+        # --- Ending Routine "rest" ---
+        for thisComponent in restComponents:
+            if hasattr(thisComponent, "setAutoDraw"):
+                thisComponent.setAutoDraw(False)
+        thisExp.addData('rest.stopped', globalClock.getTime())
+        rest_wav1.pause()  # ensure sound has stopped at end of Routine
+        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
+        if routineForceEnded:
+            routineTimer.reset()
+        else:
+            routineTimer.addTime(-6.000000)
+        thisExp.nextEntry()
+        
+        if thisSession is not None:
+            # if running in a Session with a Liaison client, send data up to now
+            thisSession.sendExperimentData()
+    # completed args.n_trials repeats of 'trials'
+    
+    
+    # --- Prepare to start Routine "end" ---
+    continueRoutine = True
+    # update component parameters for each repeat
+    thisExp.addData('end.started', globalClock.getTime())
+    # keep track of which components have finished
+    endComponents = [end_text]
+    for thisComponent in endComponents:
+        thisComponent.tStart = None
+        thisComponent.tStop = None
+        thisComponent.tStartRefresh = None
+        thisComponent.tStopRefresh = None
+        if hasattr(thisComponent, 'status'):
+            thisComponent.status = NOT_STARTED
+    # reset timers
+    t = 0
+    _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+    frameN = -1
+    
+    # --- Run Routine "end" ---
+    routineForceEnded = not continueRoutine
+    while continueRoutine and routineTimer.getTime() < 3.0:
+        # get current time
+        t = routineTimer.getTime()
+        tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+        tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+        frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+        # update/draw components on each frame
+        
+        # *end_text* updates
+        
+        # if end_text is starting this frame...
+        if end_text.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+            # keep track of start time/frame for later
+            end_text.frameNStart = frameN  # exact frame index
+            end_text.tStart = t  # local t and not account for scr refresh
+            end_text.tStartRefresh = tThisFlipGlobal  # on global time
+            win.timeOnFlip(end_text, 'tStartRefresh')  # time at next scr refresh
+            # add timestamp to datafile
+            thisExp.timestampOnFlip(win, 'end_text.started')
+            # update status
+            end_text.status = STARTED
+            end_text.setAutoDraw(True)
+        
+        # if end_text is active this frame...
+        if end_text.status == STARTED:
+            # update params
+            pass
+        
+        # if end_text is stopping this frame...
+        if end_text.status == STARTED:
+            # is it time to stop? (based on global clock, using actual start)
+            if tThisFlipGlobal > end_text.tStartRefresh + 3-frameTolerance:
+                # keep track of stop time/frame for later
+                end_text.tStop = t  # not accounting for scr refresh
+                end_text.frameNStop = frameN  # exact frame index
+                # add timestamp to datafile
+                thisExp.timestampOnFlip(win, 'end_text.stopped')
+                # update status
+                end_text.status = FINISHED
+                end_text.setAutoDraw(False)
+        
+        # check for quit (typically the Esc key)
+        if defaultKeyboard.getKeys(keyList=["escape"]):
+            thisExp.status = FINISHED
+        if thisExp.status == FINISHED or endExpNow:
+            endExperiment(thisExp, inputs=inputs, win=win)
+            return
+        
+        # check if all components have finished
+        if not continueRoutine:  # a component has requested a forced-end of Routine
+            routineForceEnded = True
+            break
+        continueRoutine = False  # will revert to True if at least one component still running
+        for thisComponent in endComponents:
+            if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                continueRoutine = True
+                break  # at least one component has not yet finished
+        
+        # refresh the screen
+        if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+            win.flip()
+    
+    # --- Ending Routine "end" ---
+    for thisComponent in endComponents:
+        if hasattr(thisComponent, "setAutoDraw"):
+            thisComponent.setAutoDraw(False)
+    thisExp.addData('end.stopped', globalClock.getTime())
+    # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
+    if routineForceEnded:
+        routineTimer.reset()
+    else:
+        routineTimer.addTime(-3.000000)
+    
+    # mark experiment as finished
+    endExperiment(thisExp, win=win, inputs=inputs)
+
+
+def saveData(thisExp):
+    """
+    Save data from this experiment
+    
+    Parameters
+    ==========
+    thisExp : psychopy.data.ExperimentHandler
+        Handler object for this experiment, contains the data to save and information about 
+        where to save it to.
+    """
+    filename = thisExp.dataFileName
+    # these shouldn't be strictly necessary (should auto-save)
+    thisExp.saveAsWideText(filename + '.csv', delim='auto')
+    thisExp.saveAsPickle(filename)
+
+
+def endExperiment(thisExp, inputs=None, win=None):
+    """
+    End this experiment, performing final shut down operations.
+    
+    This function does NOT close the window or end the Python process - use `quit` for this.
+    
+    Parameters
+    ==========
+    thisExp : psychopy.data.ExperimentHandler
+        Handler object for this experiment, contains the data to save and information about 
+        where to save it to.
+    inputs : dict
+        Dictionary of input devices by name.
+    win : psychopy.visual.Window
+        Window for this experiment.
+    """
+    if win is not None:
+        # remove autodraw from all current components
+        win.clearAutoDraw()
+        # Flip one final time so any remaining win.callOnFlip() 
+        # and win.timeOnFlip() tasks get executed
+        win.flip()
+    # mark experiment handler as finished
+    thisExp.status = FINISHED
+    # shut down eyetracker, if there is one
+    if inputs is not None:
+        if 'eyetracker' in inputs and inputs['eyetracker'] is not None:
+            inputs['eyetracker'].setConnectionState(False)
+    logging.flush()
+
+
+def quit(thisExp, win=None, inputs=None, thisSession=None):
+    """
+    Fully quit, closing the window and ending the Python process.
+    
+    Parameters
+    ==========
+    win : psychopy.visual.Window
+        Window to close.
+    inputs : dict
+        Dictionary of input devices by name.
+    thisSession : psychopy.session.Session or None
+        Handle of the Session object this experiment is being run from, if any.
+    """
+    thisExp.abort()  # or data files will save again on exit
+    # make sure everything is closed down
+    if win is not None:
+        # Flip one final time so any remaining win.callOnFlip() 
+        # and win.timeOnFlip() tasks get executed before quitting
+        win.flip()
+        win.close()
+    if inputs is not None:
+        if 'eyetracker' in inputs and inputs['eyetracker'] is not None:
+            inputs['eyetracker'].setConnectionState(False)
+    logging.flush()
+    if thisSession is not None:
+        thisSession.stop()
+    # terminate Python process
+    core.quit()
+
+
+# if running this experiment as a script...
+if __name__ == '__main__':
+    # call all functions in order
+    expInfo = showExpInfoDlg(expInfo=expInfo)
+    thisExp = setupData(expInfo=expInfo)
+    logFile = setupLogging(filename=thisExp.dataFileName)
+    win = setupWindow(expInfo=expInfo)
+    inputs = setupInputs(expInfo=expInfo, thisExp=thisExp, win=win)
+    run(
+        expInfo=expInfo, 
+        thisExp=thisExp, 
+        win=win, 
+        inputs=inputs
+    )
+    saveData(thisExp=thisExp)
+    quit(thisExp=thisExp, win=win, inputs=inputs)

backend/grasp_data_collection_threestages.psyexp

@@ -0,0 +1,600 @@
+<?xml version="1.0" ?>
+<PsychoPy2experiment encoding="utf-8" version="2023.2.3">
+  <Settings>
+    <Param val="3" valType="str" updates="None" name="Audio latency priority"/>
+    <Param val="ptb" valType="str" updates="None" name="Audio lib"/>
+    <Param val="" valType="str" updates="None" name="Completed URL"/>
+    <Param val="auto" valType="str" updates="None" name="Data file delimiter"/>
+    <Param val="u'data/%s_%s_%s' % (expInfo['participant'], expName, expInfo['date'])" valType="code" updates="None" name="Data filename"/>
+    <Param val="True" valType="bool" updates="None" name="Enable Escape"/>
+    <Param val="" valType="str" updates="None" name="End Message"/>
+    <Param val="{'participant': 'f&quot;{randint(0, 999999):06.0f}&quot;', 'session': '001'}" valType="code" updates="None" name="Experiment info"/>
+    <Param val="True" valType="bool" updates="None" name="Force stereo"/>
+    <Param val="True" valType="bool" updates="None" name="Full-screen window"/>
+    <Param val="" valType="str" updates="None" name="HTML path"/>
+    <Param val="" valType="str" updates="None" name="Incomplete URL"/>
+    <Param val="testMonitor" valType="str" updates="None" name="Monitor"/>
+    <Param val="[]" valType="list" updates="None" name="Resources"/>
+    <Param val="False" valType="bool" updates="None" name="Save csv file"/>
+    <Param val="False" valType="bool" updates="None" name="Save excel file"/>
+    <Param val="False" valType="bool" updates="None" name="Save hdf5 file"/>
+    <Param val="True" valType="bool" updates="None" name="Save log file"/>
+    <Param val="True" valType="bool" updates="None" name="Save psydat file"/>
+    <Param val="True" valType="bool" updates="None" name="Save wide csv file"/>
+    <Param val="1" valType="num" updates="None" name="Screen"/>
+    <Param val="True" valType="bool" updates="None" name="Show info dlg"/>
+    <Param val="False" valType="bool" updates="None" name="Show mouse"/>
+    <Param val="height" valType="str" updates="None" name="Units"/>
+    <Param val="" valType="str" updates="None" name="Use version"/>
+    <Param val="[1707, 1067]" valType="list" updates="None" name="Window size (pixels)"/>
+    <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+    <Param val="" valType="str" updates="None" name="backgroundImg"/>
+    <Param val="avg" valType="str" updates="None" name="blendMode"/>
+    <Param val="{'thisRow.t': 'priority.CRITICAL', 'expName': 'priority.LOW'}" valType="dict" updates="None" name="colPriority"/>
+    <Param val="$[1,1,1]" valType="color" updates="None" name="color"/>
+    <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+    <Param val="100.1.1.1" valType="str" updates="None" name="elAddress"/>
+    <Param val="FILTER_LEVEL_2" valType="str" updates="None" name="elDataFiltering"/>
+    <Param val="FILTER_LEVEL_OFF" valType="str" updates="None" name="elLiveFiltering"/>
+    <Param val="EYELINK 1000 DESKTOP" valType="str" updates="None" name="elModel"/>
+    <Param val="ELLIPSE_FIT" valType="str" updates="None" name="elPupilAlgorithm"/>
+    <Param val="PUPIL_AREA" valType="str" updates="None" name="elPupilMeasure"/>
+    <Param val="1000" valType="num" updates="None" name="elSampleRate"/>
+    <Param val="False" valType="bool" updates="None" name="elSimMode"/>
+    <Param val="RIGHT_EYE" valType="str" updates="None" name="elTrackEyes"/>
+    <Param val="PUPIL_CR_TRACKING" valType="str" updates="None" name="elTrackingMode"/>
+    <Param val="grasp_data_collection" valType="str" updates="None" name="expName"/>
+    <Param val="on Sync" valType="str" updates="None" name="exportHTML"/>
+    <Param val="None" valType="str" updates="None" name="eyetracker"/>
+    <Param val="127.0.0.1" valType="str" updates="None" name="gpAddress"/>
+    <Param val="4242" valType="num" updates="None" name="gpPort"/>
+    <Param val="ioHub" valType="str" updates="None" name="keyboardBackend"/>
+    <Param val="exp" valType="code" updates="None" name="logging level"/>
+    <Param val="('MIDDLE_BUTTON',)" valType="list" updates="None" name="mgBlink"/>
+    <Param val="CONTINUOUS" valType="str" updates="None" name="mgMove"/>
+    <Param val="0.5" valType="num" updates="None" name="mgSaccade"/>
+    <Param val="neon.local" valType="str" updates="None" name="plCompanionAddress"/>
+    <Param val="scene_camera.json" valType="file" updates="None" name="plCompanionCameraCalibration"/>
+    <Param val="8080" valType="num" updates="None" name="plCompanionPort"/>
+    <Param val="True" valType="bool" updates="None" name="plCompanionRecordingEnabled"/>
+    <Param val="0.6" valType="num" updates="None" name="plConfidenceThreshold"/>
+    <Param val="True" valType="bool" updates="None" name="plPupilCaptureRecordingEnabled"/>
+    <Param val="" valType="str" updates="None" name="plPupilCaptureRecordingLocation"/>
+    <Param val="127.0.0.1" valType="str" updates="None" name="plPupilRemoteAddress"/>
+    <Param val="50020" valType="num" updates="None" name="plPupilRemotePort"/>
+    <Param val="1000" valType="num" updates="None" name="plPupilRemoteTimeoutMs"/>
+    <Param val="False" valType="bool" updates="None" name="plPupillometryOnly"/>
+    <Param val="psychopy_iohub_surface" valType="str" updates="None" name="plSurfaceName"/>
+    <Param val="time" valType="str" updates="None" name="sortColumns"/>
+    <Param val="" valType="str" updates="None" name="tbLicenseFile"/>
+    <Param val="" valType="str" updates="None" name="tbModel"/>
+    <Param val="60" valType="num" updates="None" name="tbSampleRate"/>
+    <Param val="" valType="str" updates="None" name="tbSerialNo"/>
+    <Param val="pyglet" valType="str" updates="None" name="winBackend"/>
+  </Settings>
+  <Routines>
+    <Routine name="prepare">
+      <RoutineSettingsComponent name="prepare" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="prepare" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <TextComponent name="text" plugin="None">
+        <Param val="black" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="None" valType="str" updates="constant" name="flip"/>
+        <Param val="Open Sans" valType="str" updates="constant" name="font"/>
+        <Param val="LTR" valType="str" updates="None" name="languageStyle"/>
+        <Param val="0.05" valType="num" updates="constant" name="letterHeight"/>
+        <Param val="text" valType="code" updates="None" name="name"/>
+        <Param val="1" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="抓握训练即将开始&amp;#10;如果准备好了，请按空格键" valType="str" updates="constant" name="text"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+        <Param val="" valType="num" updates="constant" name="wrapWidth"/>
+      </TextComponent>
+      <KeyboardComponent name="key_resp" plugin="None">
+        <Param val="'space'" valType="list" updates="constant" name="allowedKeys"/>
+        <Param val="" valType="str" updates="constant" name="correctAns"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="True" valType="bool" updates="constant" name="discard previous"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="forceEndRoutine"/>
+        <Param val="key_resp" valType="code" updates="None" name="name"/>
+        <Param val="press" valType="str" updates="constant" name="registerOn"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="last key" valType="str" updates="constant" name="store"/>
+        <Param val="False" valType="bool" updates="constant" name="storeCorrect"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+      </KeyboardComponent>
+      <CodeComponent name="config" plugin="None">
+        <Param val="import argparse&amp;#10;import time&amp;#10;from device.fubo_pneumatic_finger import FuboPneumaticFingerClient&amp;#10;from device.trigger_box import TriggerNeuracle&amp;#10;from settings.config import settings&amp;#10;&amp;#10;&amp;#10;# get train params&amp;#10;&amp;#10;def parse_args():&amp;#10;&amp;#10;    parser = argparse.ArgumentParser(&amp;#10;&amp;#10;        description='Grasp training'&amp;#10;&amp;#10;    )&amp;#10;&amp;#10;    parser.add_argument(&amp;#10;&amp;#10;        '--n-trials',&amp;#10;&amp;#10;        dest='n_trials',&amp;#10;&amp;#10;        help='Trial number',&amp;#10;&amp;#10;        type=int,&amp;#10;&amp;#10;    )&amp;#10;&amp;#10;    parser.add_argument(&amp;#10;&amp;#10;        '--com',&amp;#10;&amp;#10;        dest='com',&amp;#10;&amp;#10;        help='Peripheral serial port',&amp;#10;&amp;#10;        type=str&amp;#10;&amp;#10;    )&amp;#10;&amp;#10;    parser.add_argument(&amp;#10;&amp;#10;        '--finger-model',&amp;#10;&amp;#10;        '-fm',&amp;#10;&amp;#10;        dest='finger_model',&amp;#10;&amp;#10;        help='Gesture to train',&amp;#10;&amp;#10;        type=str&amp;#10;&amp;#10;    )&amp;#10;&amp;#10;    return parser.parse_args()&amp;#10;&amp;#10;&amp;#10;&amp;#10;args = parse_args()&amp;#10;&amp;#10;hand_device = FuboPneumaticFingerClient({'port': args.com})&amp;#10;&amp;#10;# connect to trigger box&amp;#10;trigger = TriggerNeuracle()&amp;#10;" valType="extendedCode" updates="constant" name="Before Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Before JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Routine"/>
+        <Param val="&amp;#10;" valType="extendedCode" updates="constant" name="Begin Routine"/>
+        <Param val="Py" valType="str" updates="None" name="Code Type"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each JS Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Routine"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Routine"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="config" valType="code" updates="None" name="name"/>
+      </CodeComponent>
+    </Routine>
+    <Routine name="ready">
+      <RoutineSettingsComponent name="ready" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="ready" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <TextComponent name="ready_text" plugin="None">
+        <Param val="black" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="None" valType="str" updates="constant" name="flip"/>
+        <Param val="Open Sans" valType="str" updates="constant" name="font"/>
+        <Param val="LTR" valType="str" updates="None" name="languageStyle"/>
+        <Param val="0.05" valType="num" updates="constant" name="letterHeight"/>
+        <Param val="ready_text" valType="code" updates="None" name="name"/>
+        <Param val="" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="1.5" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="请准备" valType="str" updates="constant" name="text"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+        <Param val="" valType="num" updates="constant" name="wrapWidth"/>
+      </TextComponent>
+    </Routine>
+    <Routine name="hold">
+      <RoutineSettingsComponent name="hold" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="hold" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <ImageComponent name="hold_img" plugin="None">
+        <Param val="center" valType="str" updates="constant" name="anchor"/>
+        <Param val="$[1,1,1]" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="False" valType="bool" updates="constant" name="flipHoriz"/>
+        <Param val="False" valType="bool" updates="constant" name="flipVert"/>
+        <Param val="static/images/hold.png" valType="file" updates="constant" name="image"/>
+        <Param val="linear" valType="str" updates="constant" name="interpolate"/>
+        <Param val="" valType="str" updates="constant" name="mask"/>
+        <Param val="hold_img" valType="code" updates="None" name="name"/>
+        <Param val="" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="(0.5, 0.5)" valType="list" updates="constant" name="size"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="5" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="128" valType="num" updates="constant" name="texture resolution"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+      </ImageComponent>
+      <CodeComponent name="code_3" plugin="None">
+        <Param val="" valType="extendedCode" updates="constant" name="Before Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Before JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Routine"/>
+        <Param val="win.callOnFlip(trigger.send_trigger, settings.FINGERMODEL_IDS['hold'])" valType="extendedCode" updates="constant" name="Begin Routine"/>
+        <Param val="Py" valType="str" updates="None" name="Code Type"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each JS Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Routine"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Routine"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="code_3" valType="code" updates="None" name="name"/>
+      </CodeComponent>
+      <SoundComponent name="hold_wav" plugin="None">
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="hamming"/>
+        <Param val="hold_wav" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="static/audios/hold.wav" valType="str" updates="constant" name="sound"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="2" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="constant" name="stopWithRoutine"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+        <Param val="1" valType="num" updates="constant" name="volume"/>
+      </SoundComponent>
+    </Routine>
+    <Routine name="rest">
+      <RoutineSettingsComponent name="rest" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="rest" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <ImageComponent name="rest_img" plugin="None">
+        <Param val="center" valType="str" updates="constant" name="anchor"/>
+        <Param val="$[1,1,1]" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="False" valType="bool" updates="constant" name="flipHoriz"/>
+        <Param val="False" valType="bool" updates="constant" name="flipVert"/>
+        <Param val="static/images/rest.png" valType="file" updates="constant" name="image"/>
+        <Param val="linear" valType="str" updates="constant" name="interpolate"/>
+        <Param val="" valType="str" updates="constant" name="mask"/>
+        <Param val="rest_img" valType="code" updates="None" name="name"/>
+        <Param val="" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="(0.5, 0.5)" valType="list" updates="constant" name="size"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="6" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="128" valType="num" updates="constant" name="texture resolution"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+      </ImageComponent>
+      <CodeComponent name="code_4" plugin="None">
+        <Param val="" valType="extendedCode" updates="constant" name="Before Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Before JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Routine"/>
+        <Param val="i = 0" valType="extendedCode" updates="constant" name="Begin Routine"/>
+        <Param val="Py" valType="str" updates="None" name="Code Type"/>
+        <Param val="if i== 59:&amp;#10;    hand_device.start('rest')&amp;#10;    # trigger&amp;#10;    win.callOnFlip(trigger.send_trigger, settings.FINGERMODEL_IDS['rest'])&amp;#10;&amp;#10;i += 1" valType="extendedCode" updates="constant" name="Each Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each JS Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Routine"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Routine"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="code_4" valType="code" updates="None" name="name"/>
+      </CodeComponent>
+      <SoundComponent name="rest_wav1" plugin="None">
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="hamming"/>
+        <Param val="rest_wav1" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="static/audios/ding.wav" valType="str" updates="constant" name="sound"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="1.0" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="constant" name="stopWithRoutine"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+        <Param val="1" valType="num" updates="constant" name="volume"/>
+      </SoundComponent>
+      <SoundComponent name="rest_wav2" plugin="None">
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="hamming"/>
+        <Param val="rest_wav2" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="static/audios/rest.wav" valType="str" updates="constant" name="sound"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.8" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="2" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="constant" name="stopWithRoutine"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+        <Param val="1" valType="num" updates="constant" name="volume"/>
+      </SoundComponent>
+    </Routine>
+    <Routine name="end">
+      <RoutineSettingsComponent name="end" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="end" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <TextComponent name="end_text" plugin="None">
+        <Param val="black" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="None" valType="str" updates="constant" name="flip"/>
+        <Param val="Open Sans" valType="str" updates="constant" name="font"/>
+        <Param val="LTR" valType="str" updates="None" name="languageStyle"/>
+        <Param val="0.05" valType="num" updates="constant" name="letterHeight"/>
+        <Param val="end_text" valType="code" updates="None" name="name"/>
+        <Param val="1" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="3" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="恭喜您！&amp;#10;完成训练！" valType="str" updates="constant" name="text"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+        <Param val="" valType="num" updates="constant" name="wrapWidth"/>
+      </TextComponent>
+    </Routine>
+    <Routine name="extend">
+      <RoutineSettingsComponent name="extend" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="extend" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <ImageComponent name="extend_img" plugin="None">
+        <Param val="center" valType="str" updates="constant" name="anchor"/>
+        <Param val="$[1,1,1]" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="False" valType="bool" updates="constant" name="flipHoriz"/>
+        <Param val="False" valType="bool" updates="constant" name="flipVert"/>
+        <Param val="static/images/extend.png" valType="file" updates="constant" name="image"/>
+        <Param val="linear" valType="str" updates="constant" name="interpolate"/>
+        <Param val="" valType="str" updates="constant" name="mask"/>
+        <Param val="extend_img" valType="code" updates="None" name="name"/>
+        <Param val="" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="(0.5, 0.5)" valType="list" updates="constant" name="size"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="1" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="6" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="128" valType="num" updates="constant" name="texture resolution"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+      </ImageComponent>
+      <SoundComponent name="attention" plugin="None">
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="hamming"/>
+        <Param val="attention" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="static/audios/ding.wav" valType="str" updates="constant" name="sound"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="1" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="1.0" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="constant" name="stopWithRoutine"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+        <Param val="1" valType="num" updates="constant" name="volume"/>
+      </SoundComponent>
+      <CodeComponent name="code" plugin="None">
+        <Param val="&amp;#10;" valType="extendedCode" updates="constant" name="Before Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Before JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Routine"/>
+        <Param val="i = 0&amp;#10;" valType="extendedCode" updates="constant" name="Begin Routine"/>
+        <Param val="Py" valType="str" updates="None" name="Code Type"/>
+        <Param val="&amp;#10;if i== 119:&amp;#10;    hand_device.start('extend')&amp;#10;    # send trigger&amp;#10;    current_true_label = settings.FINGERMODEL_IDS['extend']&amp;#10;    win.callOnFlip(trigger.send_trigger, current_true_label)&amp;#10;&amp;#10;i += 1    &amp;#10;# 每轮开始前空白等待1s + 反应时1s + 新版extend时间4.5s + 0.5s裕量 = 7s" valType="extendedCode" updates="constant" name="Each Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each JS Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Routine"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Routine"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="code" valType="code" updates="None" name="name"/>
+      </CodeComponent>
+      <SoundComponent name="extend_wav" plugin="None">
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="hamming"/>
+        <Param val="extend_wav" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="static/audios/extend.wav" valType="str" updates="constant" name="sound"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="1.8" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="2" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="constant" name="stopWithRoutine"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+        <Param val="1" valType="num" updates="constant" name="volume"/>
+      </SoundComponent>
+    </Routine>
+    <Routine name="flex">
+      <RoutineSettingsComponent name="flex" plugin="None">
+        <Param val="none" valType="str" updates="None" name="backgroundFit"/>
+        <Param val="" valType="str" updates="None" name="backgroundImg"/>
+        <Param val="$[0,0,0]" valType="color" updates="None" name="color"/>
+        <Param val="rgb" valType="str" updates="None" name="colorSpace"/>
+        <Param val="" valType="str" updates="constant" name="desc"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="flex" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="" valType="code" updates="constant" name="skipIf"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="" valType="code" updates="constant" name="stopVal"/>
+        <Param val="False" valType="bool" updates="None" name="useWindowParams"/>
+      </RoutineSettingsComponent>
+      <ImageComponent name="flex_img" plugin="None">
+        <Param val="center" valType="str" updates="constant" name="anchor"/>
+        <Param val="$[1,1,1]" valType="color" updates="constant" name="color"/>
+        <Param val="rgb" valType="str" updates="constant" name="colorSpace"/>
+        <Param val="1" valType="num" updates="constant" name="contrast"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="False" valType="bool" updates="constant" name="flipHoriz"/>
+        <Param val="False" valType="bool" updates="constant" name="flipVert"/>
+        <Param val="static/images/flex.png" valType="file" updates="constant" name="image"/>
+        <Param val="linear" valType="str" updates="constant" name="interpolate"/>
+        <Param val="" valType="str" updates="constant" name="mask"/>
+        <Param val="flex_img" valType="code" updates="None" name="name"/>
+        <Param val="" valType="num" updates="constant" name="opacity"/>
+        <Param val="0" valType="num" updates="constant" name="ori"/>
+        <Param val="(0, 0)" valType="list" updates="constant" name="pos"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="(0.5, 0.5)" valType="list" updates="constant" name="size"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="6" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="None" name="syncScreenRefresh"/>
+        <Param val="128" valType="num" updates="constant" name="texture resolution"/>
+        <Param val="from exp settings" valType="str" updates="None" name="units"/>
+      </ImageComponent>
+      <CodeComponent name="code_2" plugin="None">
+        <Param val="" valType="extendedCode" updates="constant" name="Before Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Before JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Begin JS Routine"/>
+        <Param val="i = 0&amp;#10;" valType="extendedCode" updates="constant" name="Begin Routine"/>
+        <Param val="Py" valType="str" updates="None" name="Code Type"/>
+        <Param val="if i == 59:&amp;#10;    hand_device.start(args.finger_model)&amp;#10;    # trigger&amp;#10;    current_true_label = settings.FINGERMODEL_IDS[args.finger_model]&amp;#10;#    win.callOnFlip(trigger.send_trigger, current_true_label)&amp;#10;&amp;#10;i += 1&amp;#10;&amp;#10;# 反应时1s+新版气动手flex时间4.5s + 0.5s裕量 = 6s" valType="extendedCode" updates="constant" name="Each Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="Each JS Frame"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Experiment"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End JS Routine"/>
+        <Param val="" valType="extendedCode" updates="constant" name="End Routine"/>
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="code_2" valType="code" updates="None" name="name"/>
+      </CodeComponent>
+      <SoundComponent name="flex_wav" plugin="None">
+        <Param val="False" valType="bool" updates="None" name="disabled"/>
+        <Param val="" valType="code" updates="None" name="durationEstim"/>
+        <Param val="True" valType="bool" updates="constant" name="hamming"/>
+        <Param val="flex_wav" valType="code" updates="None" name="name"/>
+        <Param val="True" valType="bool" updates="None" name="saveStartStop"/>
+        <Param val="static/audios/flex.wav" valType="str" updates="constant" name="sound"/>
+        <Param val="" valType="code" updates="None" name="startEstim"/>
+        <Param val="time (s)" valType="str" updates="None" name="startType"/>
+        <Param val="0.0" valType="code" updates="None" name="startVal"/>
+        <Param val="duration (s)" valType="str" updates="None" name="stopType"/>
+        <Param val="2" valType="code" updates="constant" name="stopVal"/>
+        <Param val="True" valType="bool" updates="constant" name="stopWithRoutine"/>
+        <Param val="True" valType="bool" updates="constant" name="syncScreenRefresh"/>
+        <Param val="1" valType="num" updates="constant" name="volume"/>
+      </SoundComponent>
+    </Routine>
+  </Routines>
+  <Flow>
+    <Routine name="prepare"/>
+    <LoopInitiator loopType="TrialHandler" name="trials">
+      <Param name="Selected rows" updates="None" val="" valType="str"/>
+      <Param name="conditions" updates="None" val="None" valType="str"/>
+      <Param name="conditionsFile" updates="None" val="" valType="file"/>
+      <Param name="endPoints" updates="None" val="[0, 1]" valType="num"/>
+      <Param name="isTrials" updates="None" val="True" valType="bool"/>
+      <Param name="loopType" updates="None" val="random" valType="str"/>
+      <Param name="nReps" updates="None" val="args.n_trials" valType="num"/>
+      <Param name="name" updates="None" val="trials" valType="code"/>
+      <Param name="random seed" updates="None" val="" valType="code"/>
+    </LoopInitiator>
+    <Routine name="ready"/>
+    <Routine name="extend"/>
+    <Routine name="flex"/>
+    <Routine name="hold"/>
+    <Routine name="rest"/>
+    <LoopTerminator name="trials"/>
+    <Routine name="end"/>
+  </Flow>
+</PsychoPy2experiment>

backend/grasp_data_collection_threestages.py

@@ -0,0 +1,1534 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+This experiment was created using PsychoPy3 Experiment Builder (v2023.2.3),
+    on 十二月 18, 2023, at 10:54
+If you publish work using this script the most relevant publication is:
+
+    Peirce J, Gray JR, Simpson S, MacAskill M, Höchenberger R, Sogo H, Kastman E, Lindeløv JK. (2019) 
+        PsychoPy2: Experiments in behavior made easy Behav Res 51: 195. 
+        https://doi.org/10.3758/s13428-018-01193-y
+
+"""
+
+# --- Import packages ---
+from psychopy import locale_setup
+from psychopy import prefs
+from psychopy import plugins
+plugins.activatePlugins()
+prefs.hardware['audioLib'] = 'ptb'
+prefs.hardware['audioLatencyMode'] = '3'
+from psychopy import sound, gui, visual, core, data, event, logging, clock, colors, layout
+from psychopy.tools import environmenttools
+from psychopy.constants import (NOT_STARTED, STARTED, PLAYING, PAUSED,
+                                STOPPED, FINISHED, PRESSED, RELEASED, FOREVER, priority)
+
+import numpy as np  # whole numpy lib is available, prepend 'np.'
+from numpy import (sin, cos, tan, log, log10, pi, average,
+                   sqrt, std, deg2rad, rad2deg, linspace, asarray)
+from numpy.random import random, randint, normal, shuffle, choice as randchoice
+import os  # handy system and path functions
+import sys  # to get file system encoding
+
+import psychopy.iohub as io
+from psychopy.hardware import keyboard
+
+# Run 'Before Experiment' code from config
+import argparse
+import time
+from device.fubo_pneumatic_finger import FuboPneumaticFingerClient
+from device.trigger_box import TriggerNeuracle
+from settings.config import settings
+
+
+# get train params
+
+def parse_args():
+
+    parser = argparse.ArgumentParser(
+
+        description='Grasp training'
+
+    )
+
+    parser.add_argument(
+
+        '--n-trials',
+
+        dest='n_trials',
+
+        help='Trial number',
+
+        type=int,
+
+    )
+
+    parser.add_argument(
+
+        '--com',
+
+        dest='com',
+
+        help='Peripheral serial port',
+
+        type=str
+
+    )
+
+    parser.add_argument(
+
+        '--finger-model',
+
+        '-fm',
+
+        dest='finger_model',
+
+        help='Gesture to train',
+
+        type=str
+
+    )
+
+    return parser.parse_args()
+
+
+
+args = parse_args()
+
+hand_device = FuboPneumaticFingerClient({'port': args.com})
+
+# connect to trigger box
+trigger = TriggerNeuracle()
+
+# Run 'Before Experiment' code from code
+
+
+# --- Setup global variables (available in all functions) ---
+# Ensure that relative paths start from the same directory as this script
+_thisDir = os.path.dirname(os.path.abspath(__file__))
+# Store info about the experiment session
+psychopyVersion = '2023.2.3'
+expName = 'grasp_data_collection'  # from the Builder filename that created this script
+expInfo = {
+    'participant': f"{randint(0, 999999):06.0f}",
+    'session': '001',
+    'date': data.getDateStr(),  # add a simple timestamp
+    'expName': expName,
+    'psychopyVersion': psychopyVersion,
+}
+
+
+def showExpInfoDlg(expInfo):
+    """
+    Show participant info dialog.
+    Parameters
+    ==========
+    expInfo : dict
+        Information about this experiment, created by the `setupExpInfo` function.
+    
+    Returns
+    ==========
+    dict
+        Information about this experiment.
+    """
+    # temporarily remove keys which the dialog doesn't need to show
+    poppedKeys = {
+        'date': expInfo.pop('date', data.getDateStr()),
+        'expName': expInfo.pop('expName', expName),
+        'psychopyVersion': expInfo.pop('psychopyVersion', psychopyVersion),
+    }
+    # show participant info dialog
+    dlg = gui.DlgFromDict(dictionary=expInfo, sortKeys=False, title=expName)
+    if dlg.OK == False:
+        core.quit()  # user pressed cancel
+    # restore hidden keys
+    expInfo.update(poppedKeys)
+    # return expInfo
+    return expInfo
+
+
+def setupData(expInfo, dataDir=None):
+    """
+    Make an ExperimentHandler to handle trials and saving.
+    
+    Parameters
+    ==========
+    expInfo : dict
+        Information about this experiment, created by the `setupExpInfo` function.
+    dataDir : Path, str or None
+        Folder to save the data to, leave as None to create a folder in the current directory.    
+    Returns
+    ==========
+    psychopy.data.ExperimentHandler
+        Handler object for this experiment, contains the data to save and information about 
+        where to save it to.
+    """
+    
+    # data file name stem = absolute path + name; later add .psyexp, .csv, .log, etc
+    if dataDir is None:
+        dataDir = _thisDir
+    filename = u'data/%s_%s_%s' % (expInfo['participant'], expName, expInfo['date'])
+    # make sure filename is relative to dataDir
+    if os.path.isabs(filename):
+        dataDir = os.path.commonprefix([dataDir, filename])
+        filename = os.path.relpath(filename, dataDir)
+    
+    # an ExperimentHandler isn't essential but helps with data saving
+    thisExp = data.ExperimentHandler(
+        name=expName, version='',
+        extraInfo=expInfo, runtimeInfo=None,
+        originPath='D:\\Graduate\\kraken\\backend\\grasp_data_collection_threestages.py',
+        savePickle=True, saveWideText=True,
+        dataFileName=dataDir + os.sep + filename, sortColumns='time'
+    )
+    thisExp.setPriority('thisRow.t', priority.CRITICAL)
+    thisExp.setPriority('expName', priority.LOW)
+    # return experiment handler
+    return thisExp
+
+
+def setupLogging(filename):
+    """
+    Setup a log file and tell it what level to log at.
+    
+    Parameters
+    ==========
+    filename : str or pathlib.Path
+        Filename to save log file and data files as, doesn't need an extension.
+    
+    Returns
+    ==========
+    psychopy.logging.LogFile
+        Text stream to receive inputs from the logging system.
+    """
+    # this outputs to the screen, not a file
+    logging.console.setLevel(logging.EXP)
+    # save a log file for detail verbose info
+    logFile = logging.LogFile(filename+'.log', level=logging.EXP)
+    
+    return logFile
+
+
+def setupWindow(expInfo=None, win=None):
+    """
+    Setup the Window
+    
+    Parameters
+    ==========
+    expInfo : dict
+        Information about this experiment, created by the `setupExpInfo` function.
+    win : psychopy.visual.Window
+        Window to setup - leave as None to create a new window.
+    
+    Returns
+    ==========
+    psychopy.visual.Window
+        Window in which to run this experiment.
+    """
+    if win is None:
+        # if not given a window to setup, make one
+        win = visual.Window(
+            size=[1707, 1067], fullscr=True, screen=0,
+            winType='pyglet', allowStencil=False,
+            monitor='testMonitor', color=[1,1,1], colorSpace='rgb',
+            backgroundImage='', backgroundFit='none',
+            blendMode='avg', useFBO=True,
+            units='height'
+        )
+        if expInfo is not None:
+            # store frame rate of monitor if we can measure it
+            expInfo['frameRate'] = win.getActualFrameRate()
+    else:
+        # if we have a window, just set the attributes which are safe to set
+        win.color = [1,1,1]
+        win.colorSpace = 'rgb'
+        win.backgroundImage = ''
+        win.backgroundFit = 'none'
+        win.units = 'height'
+    win.mouseVisible = False
+    win.hideMessage()
+    return win
+
+
+def setupInputs(expInfo, thisExp, win):
+    """
+    Setup whatever inputs are available (mouse, keyboard, eyetracker, etc.)
+    
+    Parameters
+    ==========
+    expInfo : dict
+        Information about this experiment, created by the `setupExpInfo` function.
+    thisExp : psychopy.data.ExperimentHandler
+        Handler object for this experiment, contains the data to save and information about 
+        where to save it to.
+    win : psychopy.visual.Window
+        Window in which to run this experiment.
+    Returns
+    ==========
+    dict
+        Dictionary of input devices by name.
+    """
+    # --- Setup input devices ---
+    inputs = {}
+    ioConfig = {}
+    
+    # Setup iohub keyboard
+    ioConfig['Keyboard'] = dict(use_keymap='psychopy')
+    
+    ioSession = '1'
+    if 'session' in expInfo:
+        ioSession = str(expInfo['session'])
+    ioServer = io.launchHubServer(window=win, **ioConfig)
+    eyetracker = None
+    
+    # create a default keyboard (e.g. to check for escape)
+    defaultKeyboard = keyboard.Keyboard(backend='iohub')
+    # return inputs dict
+    return {
+        'ioServer': ioServer,
+        'defaultKeyboard': defaultKeyboard,
+        'eyetracker': eyetracker,
+    }
+
+def pauseExperiment(thisExp, inputs=None, win=None, timers=[], playbackComponents=[]):
+    """
+    Pause this experiment, preventing the flow from advancing to the next routine until resumed.
+    
+    Parameters
+    ==========
+    thisExp : psychopy.data.ExperimentHandler
+        Handler object for this experiment, contains the data to save and information about 
+        where to save it to.
+    inputs : dict
+        Dictionary of input devices by name.
+    win : psychopy.visual.Window
+        Window for this experiment.
+    timers : list, tuple
+        List of timers to reset once pausing is finished.
+    playbackComponents : list, tuple
+        List of any components with a `pause` method which need to be paused.
+    """
+    # if we are not paused, do nothing
+    if thisExp.status != PAUSED:
+        return
+    
+    # pause any playback components
+    for comp in playbackComponents:
+        comp.pause()
+    # prevent components from auto-drawing
+    win.stashAutoDraw()
+    # run a while loop while we wait to unpause
+    while thisExp.status == PAUSED:
+        # make sure we have a keyboard
+        if inputs is None:
+            inputs = {
+                'defaultKeyboard': keyboard.Keyboard(backend='ioHub')
+            }
+        # check for quit (typically the Esc key)
+        if inputs['defaultKeyboard'].getKeys(keyList=['escape']):
+            endExperiment(thisExp, win=win, inputs=inputs)
+        # flip the screen
+        win.flip()
+    # if stop was requested while paused, quit
+    if thisExp.status == FINISHED:
+        endExperiment(thisExp, inputs=inputs, win=win)
+    # resume any playback components
+    for comp in playbackComponents:
+        comp.play()
+    # restore auto-drawn components
+    win.retrieveAutoDraw()
+    # reset any timers
+    for timer in timers:
+        timer.reset()
+
+
+def run(expInfo, thisExp, win, inputs, globalClock=None, thisSession=None):
+    """
+    Run the experiment flow.
+    
+    Parameters
+    ==========
+    expInfo : dict
+        Information about this experiment, created by the `setupExpInfo` function.
+    thisExp : psychopy.data.ExperimentHandler
+        Handler object for this experiment, contains the data to save and information about 
+        where to save it to.
+    psychopy.visual.Window
+        Window in which to run this experiment.
+    inputs : dict
+        Dictionary of input devices by name.
+    globalClock : psychopy.core.clock.Clock or None
+        Clock to get global time from - supply None to make a new one.
+    thisSession : psychopy.session.Session or None
+        Handle of the Session object this experiment is being run from, if any.
+    """
+    # mark experiment as started
+    thisExp.status = STARTED
+    # make sure variables created by exec are available globally
+    exec = environmenttools.setExecEnvironment(globals())
+    # get device handles from dict of input devices
+    ioServer = inputs['ioServer']
+    defaultKeyboard = inputs['defaultKeyboard']
+    eyetracker = inputs['eyetracker']
+    # make sure we're running in the directory for this experiment
+    os.chdir(_thisDir)
+    # get filename from ExperimentHandler for convenience
+    filename = thisExp.dataFileName
+    frameTolerance = 0.001  # how close to onset before 'same' frame
+    endExpNow = False  # flag for 'escape' or other condition => quit the exp
+    # get frame duration from frame rate in expInfo
+    if 'frameRate' in expInfo and expInfo['frameRate'] is not None:
+        frameDur = 1.0 / round(expInfo['frameRate'])
+    else:
+        frameDur = 1.0 / 60.0  # could not measure, so guess
+    
+    # Start Code - component code to be run after the window creation
+    
+    # --- Initialize components for Routine "prepare" ---
+    text = visual.TextStim(win=win, name='text',
+        text='抓握训练即将开始\n如果准备好了，请按空格键',
+        font='Open Sans',
+        pos=(0, 0), height=0.05, wrapWidth=None, ori=0.0, 
+        color='black', colorSpace='rgb', opacity=1.0, 
+        languageStyle='LTR',
+        depth=0.0);
+    key_resp = keyboard.Keyboard()
+    
+    # --- Initialize components for Routine "ready" ---
+    ready_text = visual.TextStim(win=win, name='ready_text',
+        text='请准备',
+        font='Open Sans',
+        pos=(0, 0), height=0.05, wrapWidth=None, ori=0.0, 
+        color='black', colorSpace='rgb', opacity=None, 
+        languageStyle='LTR',
+        depth=0.0);
+    
+    # --- Initialize components for Routine "extend" ---
+    extend_img = visual.ImageStim(
+        win=win,
+        name='extend_img', 
+        image='static/images/extend.png', mask=None, anchor='center',
+        ori=0.0, pos=(0, 0), size=(0.5, 0.5),
+        color=[1,1,1], colorSpace='rgb', opacity=None,
+        flipHoriz=False, flipVert=False,
+        texRes=128.0, interpolate=True, depth=0.0)
+    attention = sound.Sound('static/audios/ding.wav', secs=1.0, stereo=True, hamming=True,
+        name='attention')
+    attention.setVolume(1.0)
+    extend_wav = sound.Sound('static/audios/extend.wav', secs=2, stereo=True, hamming=True,
+        name='extend_wav')
+    extend_wav.setVolume(1.0)
+    
+    # --- Initialize components for Routine "flex" ---
+    flex_img = visual.ImageStim(
+        win=win,
+        name='flex_img', 
+        image='static/images/flex.png', mask=None, anchor='center',
+        ori=0.0, pos=(0, 0), size=(0.5, 0.5),
+        color=[1,1,1], colorSpace='rgb', opacity=None,
+        flipHoriz=False, flipVert=False,
+        texRes=128.0, interpolate=True, depth=0.0)
+    flex_wav = sound.Sound('static/audios/flex.wav', secs=2, stereo=True, hamming=True,
+        name='flex_wav')
+    flex_wav.setVolume(1.0)
+    
+    # --- Initialize components for Routine "hold" ---
+    hold_img = visual.ImageStim(
+        win=win,
+        name='hold_img', 
+        image='static/images/hold.png', mask=None, anchor='center',
+        ori=0.0, pos=(0, 0), size=(0.5, 0.5),
+        color=[1,1,1], colorSpace='rgb', opacity=None,
+        flipHoriz=False, flipVert=False,
+        texRes=128.0, interpolate=True, depth=0.0)
+    hold_wav = sound.Sound('static/audios/hold.wav', secs=2, stereo=True, hamming=True,
+        name='hold_wav')
+    hold_wav.setVolume(1.0)
+    
+    # --- Initialize components for Routine "rest" ---
+    rest_img = visual.ImageStim(
+        win=win,
+        name='rest_img', 
+        image='static/images/rest.png', mask=None, anchor='center',
+        ori=0.0, pos=(0, 0), size=(0.5, 0.5),
+        color=[1,1,1], colorSpace='rgb', opacity=None,
+        flipHoriz=False, flipVert=False,
+        texRes=128.0, interpolate=True, depth=0.0)
+    rest_wav1 = sound.Sound('static/audios/ding.wav', secs=1.0, stereo=True, hamming=True,
+        name='rest_wav1')
+    rest_wav1.setVolume(1.0)
+    rest_wav2 = sound.Sound('static/audios/rest.wav', secs=2, stereo=True, hamming=True,
+        name='rest_wav2')
+    rest_wav2.setVolume(1.0)
+    
+    # --- Initialize components for Routine "end" ---
+    end_text = visual.TextStim(win=win, name='end_text',
+        text='恭喜您！\n完成训练！',
+        font='Open Sans',
+        pos=(0, 0), height=0.05, wrapWidth=None, ori=0.0, 
+        color='black', colorSpace='rgb', opacity=1.0, 
+        languageStyle='LTR',
+        depth=0.0);
+    
+    # create some handy timers
+    if globalClock is None:
+        globalClock = core.Clock()  # to track the time since experiment started
+    if ioServer is not None:
+        ioServer.syncClock(globalClock)
+    logging.setDefaultClock(globalClock)
+    routineTimer = core.Clock()  # to track time remaining of each (possibly non-slip) routine
+    win.flip()  # flip window to reset last flip timer
+    # store the exact time the global clock started
+    expInfo['expStart'] = data.getDateStr(format='%Y-%m-%d %Hh%M.%S.%f %z', fractionalSecondDigits=6)
+    
+    # --- Prepare to start Routine "prepare" ---
+    continueRoutine = True
+    # update component parameters for each repeat
+    thisExp.addData('prepare.started', globalClock.getTime())
+    key_resp.keys = []
+    key_resp.rt = []
+    _key_resp_allKeys = []
+    # Run 'Begin Routine' code from config
+    
+    
+    # keep track of which components have finished
+    prepareComponents = [text, key_resp]
+    for thisComponent in prepareComponents:
+        thisComponent.tStart = None
+        thisComponent.tStop = None
+        thisComponent.tStartRefresh = None
+        thisComponent.tStopRefresh = None
+        if hasattr(thisComponent, 'status'):
+            thisComponent.status = NOT_STARTED
+    # reset timers
+    t = 0
+    _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+    frameN = -1
+    
+    # --- Run Routine "prepare" ---
+    routineForceEnded = not continueRoutine
+    while continueRoutine:
+        # get current time
+        t = routineTimer.getTime()
+        tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+        tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+        frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+        # update/draw components on each frame
+        
+        # *text* updates
+        
+        # if text is starting this frame...
+        if text.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+            # keep track of start time/frame for later
+            text.frameNStart = frameN  # exact frame index
+            text.tStart = t  # local t and not account for scr refresh
+            text.tStartRefresh = tThisFlipGlobal  # on global time
+            win.timeOnFlip(text, 'tStartRefresh')  # time at next scr refresh
+            # add timestamp to datafile
+            thisExp.timestampOnFlip(win, 'text.started')
+            # update status
+            text.status = STARTED
+            text.setAutoDraw(True)
+        
+        # if text is active this frame...
+        if text.status == STARTED:
+            # update params
+            pass
+        
+        # *key_resp* updates
+        waitOnFlip = False
+        
+        # if key_resp is starting this frame...
+        if key_resp.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+            # keep track of start time/frame for later
+            key_resp.frameNStart = frameN  # exact frame index
+            key_resp.tStart = t  # local t and not account for scr refresh
+            key_resp.tStartRefresh = tThisFlipGlobal  # on global time
+            win.timeOnFlip(key_resp, 'tStartRefresh')  # time at next scr refresh
+            # add timestamp to datafile
+            thisExp.timestampOnFlip(win, 'key_resp.started')
+            # update status
+            key_resp.status = STARTED
+            # keyboard checking is just starting
+            waitOnFlip = True
+            win.callOnFlip(key_resp.clock.reset)  # t=0 on next screen flip
+            win.callOnFlip(key_resp.clearEvents, eventType='keyboard')  # clear events on next screen flip
+        if key_resp.status == STARTED and not waitOnFlip:
+            theseKeys = key_resp.getKeys(keyList=['space'], ignoreKeys=["escape"], waitRelease=False)
+            _key_resp_allKeys.extend(theseKeys)
+            if len(_key_resp_allKeys):
+                key_resp.keys = _key_resp_allKeys[-1].name  # just the last key pressed
+                key_resp.rt = _key_resp_allKeys[-1].rt
+                key_resp.duration = _key_resp_allKeys[-1].duration
+                # a response ends the routine
+                continueRoutine = False
+        
+        # check for quit (typically the Esc key)
+        if defaultKeyboard.getKeys(keyList=["escape"]):
+            thisExp.status = FINISHED
+        if thisExp.status == FINISHED or endExpNow:
+            endExperiment(thisExp, inputs=inputs, win=win)
+            return
+        
+        # check if all components have finished
+        if not continueRoutine:  # a component has requested a forced-end of Routine
+            routineForceEnded = True
+            break
+        continueRoutine = False  # will revert to True if at least one component still running
+        for thisComponent in prepareComponents:
+            if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                continueRoutine = True
+                break  # at least one component has not yet finished
+        
+        # refresh the screen
+        if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+            win.flip()
+    
+    # --- Ending Routine "prepare" ---
+    for thisComponent in prepareComponents:
+        if hasattr(thisComponent, "setAutoDraw"):
+            thisComponent.setAutoDraw(False)
+    thisExp.addData('prepare.stopped', globalClock.getTime())
+    # check responses
+    if key_resp.keys in ['', [], None]:  # No response was made
+        key_resp.keys = None
+    thisExp.addData('key_resp.keys',key_resp.keys)
+    if key_resp.keys != None:  # we had a response
+        thisExp.addData('key_resp.rt', key_resp.rt)
+        thisExp.addData('key_resp.duration', key_resp.duration)
+    thisExp.nextEntry()
+    # the Routine "prepare" was not non-slip safe, so reset the non-slip timer
+    routineTimer.reset()
+    
+    # set up handler to look after randomisation of conditions etc
+    trials = data.TrialHandler(nReps=args.n_trials, method='random', 
+        extraInfo=expInfo, originPath=-1,
+        trialList=[None],
+        seed=None, name='trials')
+    thisExp.addLoop(trials)  # add the loop to the experiment
+    thisTrial = trials.trialList[0]  # so we can initialise stimuli with some values
+    # abbreviate parameter names if possible (e.g. rgb = thisTrial.rgb)
+    if thisTrial != None:
+        for paramName in thisTrial:
+            globals()[paramName] = thisTrial[paramName]
+    
+    for thisTrial in trials:
+        currentLoop = trials
+        thisExp.timestampOnFlip(win, 'thisRow.t')
+        # pause experiment here if requested
+        if thisExp.status == PAUSED:
+            pauseExperiment(
+                thisExp=thisExp, 
+                inputs=inputs, 
+                win=win, 
+                timers=[routineTimer], 
+                playbackComponents=[]
+        )
+        # abbreviate parameter names if possible (e.g. rgb = thisTrial.rgb)
+        if thisTrial != None:
+            for paramName in thisTrial:
+                globals()[paramName] = thisTrial[paramName]
+        
+        # --- Prepare to start Routine "ready" ---
+        continueRoutine = True
+        # update component parameters for each repeat
+        thisExp.addData('ready.started', globalClock.getTime())
+        # keep track of which components have finished
+        readyComponents = [ready_text]
+        for thisComponent in readyComponents:
+            thisComponent.tStart = None
+            thisComponent.tStop = None
+            thisComponent.tStartRefresh = None
+            thisComponent.tStopRefresh = None
+            if hasattr(thisComponent, 'status'):
+                thisComponent.status = NOT_STARTED
+        # reset timers
+        t = 0
+        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+        frameN = -1
+        
+        # --- Run Routine "ready" ---
+        routineForceEnded = not continueRoutine
+        while continueRoutine and routineTimer.getTime() < 1.5:
+            # get current time
+            t = routineTimer.getTime()
+            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+            # update/draw components on each frame
+            
+            # *ready_text* updates
+            
+            # if ready_text is starting this frame...
+            if ready_text.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+                # keep track of start time/frame for later
+                ready_text.frameNStart = frameN  # exact frame index
+                ready_text.tStart = t  # local t and not account for scr refresh
+                ready_text.tStartRefresh = tThisFlipGlobal  # on global time
+                win.timeOnFlip(ready_text, 'tStartRefresh')  # time at next scr refresh
+                # add timestamp to datafile
+                thisExp.timestampOnFlip(win, 'ready_text.started')
+                # update status
+                ready_text.status = STARTED
+                ready_text.setAutoDraw(True)
+            
+            # if ready_text is active this frame...
+            if ready_text.status == STARTED:
+                # update params
+                pass
+            
+            # if ready_text is stopping this frame...
+            if ready_text.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > ready_text.tStartRefresh + 1.5-frameTolerance:
+                    # keep track of stop time/frame for later
+                    ready_text.tStop = t  # not accounting for scr refresh
+                    ready_text.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'ready_text.stopped')
+                    # update status
+                    ready_text.status = FINISHED
+                    ready_text.setAutoDraw(False)
+            
+            # check for quit (typically the Esc key)
+            if defaultKeyboard.getKeys(keyList=["escape"]):
+                thisExp.status = FINISHED
+            if thisExp.status == FINISHED or endExpNow:
+                endExperiment(thisExp, inputs=inputs, win=win)
+                return
+            
+            # check if all components have finished
+            if not continueRoutine:  # a component has requested a forced-end of Routine
+                routineForceEnded = True
+                break
+            continueRoutine = False  # will revert to True if at least one component still running
+            for thisComponent in readyComponents:
+                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                    continueRoutine = True
+                    break  # at least one component has not yet finished
+            
+            # refresh the screen
+            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+                win.flip()
+        
+        # --- Ending Routine "ready" ---
+        for thisComponent in readyComponents:
+            if hasattr(thisComponent, "setAutoDraw"):
+                thisComponent.setAutoDraw(False)
+        thisExp.addData('ready.stopped', globalClock.getTime())
+        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
+        if routineForceEnded:
+            routineTimer.reset()
+        else:
+            routineTimer.addTime(-1.500000)
+        
+        # --- Prepare to start Routine "extend" ---
+        continueRoutine = True
+        # update component parameters for each repeat
+        thisExp.addData('extend.started', globalClock.getTime())
+        attention.setSound('static/audios/ding.wav', secs=1.0, hamming=True)
+        attention.setVolume(1.0, log=False)
+        attention.seek(0)
+        # Run 'Begin Routine' code from code
+        i = 0
+        
+        extend_wav.setSound('static/audios/extend.wav', secs=2, hamming=True)
+        extend_wav.setVolume(1.0, log=False)
+        extend_wav.seek(0)
+        # keep track of which components have finished
+        extendComponents = [extend_img, attention, extend_wav]
+        for thisComponent in extendComponents:
+            thisComponent.tStart = None
+            thisComponent.tStop = None
+            thisComponent.tStartRefresh = None
+            thisComponent.tStopRefresh = None
+            if hasattr(thisComponent, 'status'):
+                thisComponent.status = NOT_STARTED
+        # reset timers
+        t = 0
+        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+        frameN = -1
+        
+        # --- Run Routine "extend" ---
+        routineForceEnded = not continueRoutine
+        while continueRoutine and routineTimer.getTime() < 7.0:
+            # get current time
+            t = routineTimer.getTime()
+            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+            # update/draw components on each frame
+            
+            # *extend_img* updates
+            
+            # if extend_img is starting this frame...
+            if extend_img.status == NOT_STARTED and tThisFlip >= 1-frameTolerance:
+                # keep track of start time/frame for later
+                extend_img.frameNStart = frameN  # exact frame index
+                extend_img.tStart = t  # local t and not account for scr refresh
+                extend_img.tStartRefresh = tThisFlipGlobal  # on global time
+                win.timeOnFlip(extend_img, 'tStartRefresh')  # time at next scr refresh
+                # add timestamp to datafile
+                thisExp.timestampOnFlip(win, 'extend_img.started')
+                # update status
+                extend_img.status = STARTED
+                extend_img.setAutoDraw(True)
+            
+            # if extend_img is active this frame...
+            if extend_img.status == STARTED:
+                # update params
+                pass
+            
+            # if extend_img is stopping this frame...
+            if extend_img.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > extend_img.tStartRefresh + 6-frameTolerance:
+                    # keep track of stop time/frame for later
+                    extend_img.tStop = t  # not accounting for scr refresh
+                    extend_img.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'extend_img.stopped')
+                    # update status
+                    extend_img.status = FINISHED
+                    extend_img.setAutoDraw(False)
+            
+            # if attention is starting this frame...
+            if attention.status == NOT_STARTED and tThisFlip >= 1-frameTolerance:
+                # keep track of start time/frame for later
+                attention.frameNStart = frameN  # exact frame index
+                attention.tStart = t  # local t and not account for scr refresh
+                attention.tStartRefresh = tThisFlipGlobal  # on global time
+                # add timestamp to datafile
+                thisExp.addData('attention.started', tThisFlipGlobal)
+                # update status
+                attention.status = STARTED
+                attention.play(when=win)  # sync with win flip
+            
+            # if attention is stopping this frame...
+            if attention.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > attention.tStartRefresh + 1.0-frameTolerance:
+                    # keep track of stop time/frame for later
+                    attention.tStop = t  # not accounting for scr refresh
+                    attention.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'attention.stopped')
+                    # update status
+                    attention.status = FINISHED
+                    attention.stop()
+            # update attention status according to whether it's playing
+            if attention.isPlaying:
+                attention.status = STARTED
+            elif attention.isFinished:
+                attention.status = FINISHED
+            # Run 'Each Frame' code from code
+            
+            if i== 119:
+                hand_device.start('extend')
+                # send trigger
+                current_true_label = settings.FINGERMODEL_IDS['extend']
+                win.callOnFlip(trigger.send_trigger, current_true_label)
+            
+            i += 1    
+            # 每轮开始前空白等待1s + 反应时1s + 新版extend时间4.5s + 0.5s裕量 = 7s
+            
+            # if extend_wav is starting this frame...
+            if extend_wav.status == NOT_STARTED and tThisFlip >= 1.8-frameTolerance:
+                # keep track of start time/frame for later
+                extend_wav.frameNStart = frameN  # exact frame index
+                extend_wav.tStart = t  # local t and not account for scr refresh
+                extend_wav.tStartRefresh = tThisFlipGlobal  # on global time
+                # add timestamp to datafile
+                thisExp.addData('extend_wav.started', tThisFlipGlobal)
+                # update status
+                extend_wav.status = STARTED
+                extend_wav.play(when=win)  # sync with win flip
+            
+            # if extend_wav is stopping this frame...
+            if extend_wav.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > extend_wav.tStartRefresh + 2-frameTolerance:
+                    # keep track of stop time/frame for later
+                    extend_wav.tStop = t  # not accounting for scr refresh
+                    extend_wav.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'extend_wav.stopped')
+                    # update status
+                    extend_wav.status = FINISHED
+                    extend_wav.stop()
+            # update extend_wav status according to whether it's playing
+            if extend_wav.isPlaying:
+                extend_wav.status = STARTED
+            elif extend_wav.isFinished:
+                extend_wav.status = FINISHED
+            
+            # check for quit (typically the Esc key)
+            if defaultKeyboard.getKeys(keyList=["escape"]):
+                thisExp.status = FINISHED
+            if thisExp.status == FINISHED or endExpNow:
+                endExperiment(thisExp, inputs=inputs, win=win)
+                return
+            
+            # check if all components have finished
+            if not continueRoutine:  # a component has requested a forced-end of Routine
+                routineForceEnded = True
+                break
+            continueRoutine = False  # will revert to True if at least one component still running
+            for thisComponent in extendComponents:
+                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                    continueRoutine = True
+                    break  # at least one component has not yet finished
+            
+            # refresh the screen
+            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+                win.flip()
+        
+        # --- Ending Routine "extend" ---
+        for thisComponent in extendComponents:
+            if hasattr(thisComponent, "setAutoDraw"):
+                thisComponent.setAutoDraw(False)
+        thisExp.addData('extend.stopped', globalClock.getTime())
+        attention.pause()  # ensure sound has stopped at end of Routine
+        extend_wav.pause()  # ensure sound has stopped at end of Routine
+        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
+        if routineForceEnded:
+            routineTimer.reset()
+        else:
+            routineTimer.addTime(-7.000000)
+        
+        # --- Prepare to start Routine "flex" ---
+        continueRoutine = True
+        # update component parameters for each repeat
+        thisExp.addData('flex.started', globalClock.getTime())
+        # Run 'Begin Routine' code from code_2
+        i = 0
+        
+        flex_wav.setSound('static/audios/flex.wav', secs=2, hamming=True)
+        flex_wav.setVolume(1.0, log=False)
+        flex_wav.seek(0)
+        # keep track of which components have finished
+        flexComponents = [flex_img, flex_wav]
+        for thisComponent in flexComponents:
+            thisComponent.tStart = None
+            thisComponent.tStop = None
+            thisComponent.tStartRefresh = None
+            thisComponent.tStopRefresh = None
+            if hasattr(thisComponent, 'status'):
+                thisComponent.status = NOT_STARTED
+        # reset timers
+        t = 0
+        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+        frameN = -1
+        
+        # --- Run Routine "flex" ---
+        routineForceEnded = not continueRoutine
+        while continueRoutine and routineTimer.getTime() < 6.0:
+            # get current time
+            t = routineTimer.getTime()
+            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+            # update/draw components on each frame
+            
+            # *flex_img* updates
+            
+            # if flex_img is starting this frame...
+            if flex_img.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+                # keep track of start time/frame for later
+                flex_img.frameNStart = frameN  # exact frame index
+                flex_img.tStart = t  # local t and not account for scr refresh
+                flex_img.tStartRefresh = tThisFlipGlobal  # on global time
+                win.timeOnFlip(flex_img, 'tStartRefresh')  # time at next scr refresh
+                # add timestamp to datafile
+                thisExp.timestampOnFlip(win, 'flex_img.started')
+                # update status
+                flex_img.status = STARTED
+                flex_img.setAutoDraw(True)
+            
+            # if flex_img is active this frame...
+            if flex_img.status == STARTED:
+                # update params
+                pass
+            
+            # if flex_img is stopping this frame...
+            if flex_img.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > flex_img.tStartRefresh + 6-frameTolerance:
+                    # keep track of stop time/frame for later
+                    flex_img.tStop = t  # not accounting for scr refresh
+                    flex_img.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'flex_img.stopped')
+                    # update status
+                    flex_img.status = FINISHED
+                    flex_img.setAutoDraw(False)
+            # Run 'Each Frame' code from code_2
+            if i == 59:
+                hand_device.start(args.finger_model)
+                # trigger
+                current_true_label = settings.FINGERMODEL_IDS[args.finger_model]
+            #    win.callOnFlip(trigger.send_trigger, current_true_label)
+            
+            i += 1
+            
+            # 反应时1s+新版气动手flex时间4.5s + 0.5s裕量 = 6s
+            
+            # if flex_wav is starting this frame...
+            if flex_wav.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+                # keep track of start time/frame for later
+                flex_wav.frameNStart = frameN  # exact frame index
+                flex_wav.tStart = t  # local t and not account for scr refresh
+                flex_wav.tStartRefresh = tThisFlipGlobal  # on global time
+                # add timestamp to datafile
+                thisExp.addData('flex_wav.started', tThisFlipGlobal)
+                # update status
+                flex_wav.status = STARTED
+                flex_wav.play(when=win)  # sync with win flip
+            
+            # if flex_wav is stopping this frame...
+            if flex_wav.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > flex_wav.tStartRefresh + 2-frameTolerance:
+                    # keep track of stop time/frame for later
+                    flex_wav.tStop = t  # not accounting for scr refresh
+                    flex_wav.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'flex_wav.stopped')
+                    # update status
+                    flex_wav.status = FINISHED
+                    flex_wav.stop()
+            # update flex_wav status according to whether it's playing
+            if flex_wav.isPlaying:
+                flex_wav.status = STARTED
+            elif flex_wav.isFinished:
+                flex_wav.status = FINISHED
+            
+            # check for quit (typically the Esc key)
+            if defaultKeyboard.getKeys(keyList=["escape"]):
+                thisExp.status = FINISHED
+            if thisExp.status == FINISHED or endExpNow:
+                endExperiment(thisExp, inputs=inputs, win=win)
+                return
+            
+            # check if all components have finished
+            if not continueRoutine:  # a component has requested a forced-end of Routine
+                routineForceEnded = True
+                break
+            continueRoutine = False  # will revert to True if at least one component still running
+            for thisComponent in flexComponents:
+                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                    continueRoutine = True
+                    break  # at least one component has not yet finished
+            
+            # refresh the screen
+            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+                win.flip()
+        
+        # --- Ending Routine "flex" ---
+        for thisComponent in flexComponents:
+            if hasattr(thisComponent, "setAutoDraw"):
+                thisComponent.setAutoDraw(False)
+        thisExp.addData('flex.stopped', globalClock.getTime())
+        flex_wav.pause()  # ensure sound has stopped at end of Routine
+        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
+        if routineForceEnded:
+            routineTimer.reset()
+        else:
+            routineTimer.addTime(-6.000000)
+        
+        # --- Prepare to start Routine "hold" ---
+        continueRoutine = True
+        # update component parameters for each repeat
+        thisExp.addData('hold.started', globalClock.getTime())
+        # Run 'Begin Routine' code from code_3
+        win.callOnFlip(trigger.send_trigger, settings.FINGERMODEL_IDS['hold'])
+        hold_wav.setSound('static/audios/hold.wav', secs=2, hamming=True)
+        hold_wav.setVolume(1.0, log=False)
+        hold_wav.seek(0)
+        # keep track of which components have finished
+        holdComponents = [hold_img, hold_wav]
+        for thisComponent in holdComponents:
+            thisComponent.tStart = None
+            thisComponent.tStop = None
+            thisComponent.tStartRefresh = None
+            thisComponent.tStopRefresh = None
+            if hasattr(thisComponent, 'status'):
+                thisComponent.status = NOT_STARTED
+        # reset timers
+        t = 0
+        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+        frameN = -1
+        
+        # --- Run Routine "hold" ---
+        routineForceEnded = not continueRoutine
+        while continueRoutine and routineTimer.getTime() < 5.0:
+            # get current time
+            t = routineTimer.getTime()
+            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+            # update/draw components on each frame
+            
+            # *hold_img* updates
+            
+            # if hold_img is starting this frame...
+            if hold_img.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+                # keep track of start time/frame for later
+                hold_img.frameNStart = frameN  # exact frame index
+                hold_img.tStart = t  # local t and not account for scr refresh
+                hold_img.tStartRefresh = tThisFlipGlobal  # on global time
+                win.timeOnFlip(hold_img, 'tStartRefresh')  # time at next scr refresh
+                # add timestamp to datafile
+                thisExp.timestampOnFlip(win, 'hold_img.started')
+                # update status
+                hold_img.status = STARTED
+                hold_img.setAutoDraw(True)
+            
+            # if hold_img is active this frame...
+            if hold_img.status == STARTED:
+                # update params
+                pass
+            
+            # if hold_img is stopping this frame...
+            if hold_img.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > hold_img.tStartRefresh + 5-frameTolerance:
+                    # keep track of stop time/frame for later
+                    hold_img.tStop = t  # not accounting for scr refresh
+                    hold_img.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'hold_img.stopped')
+                    # update status
+                    hold_img.status = FINISHED
+                    hold_img.setAutoDraw(False)
+            
+            # if hold_wav is starting this frame...
+            if hold_wav.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+                # keep track of start time/frame for later
+                hold_wav.frameNStart = frameN  # exact frame index
+                hold_wav.tStart = t  # local t and not account for scr refresh
+                hold_wav.tStartRefresh = tThisFlipGlobal  # on global time
+                # add timestamp to datafile
+                thisExp.addData('hold_wav.started', tThisFlipGlobal)
+                # update status
+                hold_wav.status = STARTED
+                hold_wav.play(when=win)  # sync with win flip
+            
+            # if hold_wav is stopping this frame...
+            if hold_wav.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > hold_wav.tStartRefresh + 2-frameTolerance:
+                    # keep track of stop time/frame for later
+                    hold_wav.tStop = t  # not accounting for scr refresh
+                    hold_wav.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'hold_wav.stopped')
+                    # update status
+                    hold_wav.status = FINISHED
+                    hold_wav.stop()
+            # update hold_wav status according to whether it's playing
+            if hold_wav.isPlaying:
+                hold_wav.status = STARTED
+            elif hold_wav.isFinished:
+                hold_wav.status = FINISHED
+            
+            # check for quit (typically the Esc key)
+            if defaultKeyboard.getKeys(keyList=["escape"]):
+                thisExp.status = FINISHED
+            if thisExp.status == FINISHED or endExpNow:
+                endExperiment(thisExp, inputs=inputs, win=win)
+                return
+            
+            # check if all components have finished
+            if not continueRoutine:  # a component has requested a forced-end of Routine
+                routineForceEnded = True
+                break
+            continueRoutine = False  # will revert to True if at least one component still running
+            for thisComponent in holdComponents:
+                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                    continueRoutine = True
+                    break  # at least one component has not yet finished
+            
+            # refresh the screen
+            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+                win.flip()
+        
+        # --- Ending Routine "hold" ---
+        for thisComponent in holdComponents:
+            if hasattr(thisComponent, "setAutoDraw"):
+                thisComponent.setAutoDraw(False)
+        thisExp.addData('hold.stopped', globalClock.getTime())
+        hold_wav.pause()  # ensure sound has stopped at end of Routine
+        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
+        if routineForceEnded:
+            routineTimer.reset()
+        else:
+            routineTimer.addTime(-5.000000)
+        
+        # --- Prepare to start Routine "rest" ---
+        continueRoutine = True
+        # update component parameters for each repeat
+        thisExp.addData('rest.started', globalClock.getTime())
+        # Run 'Begin Routine' code from code_4
+        i = 0
+        rest_wav1.setSound('static/audios/ding.wav', secs=1.0, hamming=True)
+        rest_wav1.setVolume(1.0, log=False)
+        rest_wav1.seek(0)
+        rest_wav2.setSound('static/audios/rest.wav', secs=2, hamming=True)
+        rest_wav2.setVolume(1.0, log=False)
+        rest_wav2.seek(0)
+        # keep track of which components have finished
+        restComponents = [rest_img, rest_wav1, rest_wav2]
+        for thisComponent in restComponents:
+            thisComponent.tStart = None
+            thisComponent.tStop = None
+            thisComponent.tStartRefresh = None
+            thisComponent.tStopRefresh = None
+            if hasattr(thisComponent, 'status'):
+                thisComponent.status = NOT_STARTED
+        # reset timers
+        t = 0
+        _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+        frameN = -1
+        
+        # --- Run Routine "rest" ---
+        routineForceEnded = not continueRoutine
+        while continueRoutine and routineTimer.getTime() < 6.0:
+            # get current time
+            t = routineTimer.getTime()
+            tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+            tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+            frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+            # update/draw components on each frame
+            
+            # *rest_img* updates
+            
+            # if rest_img is starting this frame...
+            if rest_img.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+                # keep track of start time/frame for later
+                rest_img.frameNStart = frameN  # exact frame index
+                rest_img.tStart = t  # local t and not account for scr refresh
+                rest_img.tStartRefresh = tThisFlipGlobal  # on global time
+                win.timeOnFlip(rest_img, 'tStartRefresh')  # time at next scr refresh
+                # add timestamp to datafile
+                thisExp.timestampOnFlip(win, 'rest_img.started')
+                # update status
+                rest_img.status = STARTED
+                rest_img.setAutoDraw(True)
+            
+            # if rest_img is active this frame...
+            if rest_img.status == STARTED:
+                # update params
+                pass
+            
+            # if rest_img is stopping this frame...
+            if rest_img.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > rest_img.tStartRefresh + 6-frameTolerance:
+                    # keep track of stop time/frame for later
+                    rest_img.tStop = t  # not accounting for scr refresh
+                    rest_img.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'rest_img.stopped')
+                    # update status
+                    rest_img.status = FINISHED
+                    rest_img.setAutoDraw(False)
+            # Run 'Each Frame' code from code_4
+            if i== 59:
+                hand_device.start('rest')
+                # trigger
+                win.callOnFlip(trigger.send_trigger, settings.FINGERMODEL_IDS['rest'])
+            
+            i += 1
+            
+            # if rest_wav1 is starting this frame...
+            if rest_wav1.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+                # keep track of start time/frame for later
+                rest_wav1.frameNStart = frameN  # exact frame index
+                rest_wav1.tStart = t  # local t and not account for scr refresh
+                rest_wav1.tStartRefresh = tThisFlipGlobal  # on global time
+                # add timestamp to datafile
+                thisExp.addData('rest_wav1.started', tThisFlipGlobal)
+                # update status
+                rest_wav1.status = STARTED
+                rest_wav1.play(when=win)  # sync with win flip
+            
+            # if rest_wav1 is stopping this frame...
+            if rest_wav1.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > rest_wav1.tStartRefresh + 1.0-frameTolerance:
+                    # keep track of stop time/frame for later
+                    rest_wav1.tStop = t  # not accounting for scr refresh
+                    rest_wav1.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'rest_wav1.stopped')
+                    # update status
+                    rest_wav1.status = FINISHED
+                    rest_wav1.stop()
+            # update rest_wav1 status according to whether it's playing
+            if rest_wav1.isPlaying:
+                rest_wav1.status = STARTED
+            elif rest_wav1.isFinished:
+                rest_wav1.status = FINISHED
+            
+            # if rest_wav2 is starting this frame...
+            if rest_wav2.status == NOT_STARTED and tThisFlip >= 0.8-frameTolerance:
+                # keep track of start time/frame for later
+                rest_wav2.frameNStart = frameN  # exact frame index
+                rest_wav2.tStart = t  # local t and not account for scr refresh
+                rest_wav2.tStartRefresh = tThisFlipGlobal  # on global time
+                # add timestamp to datafile
+                thisExp.addData('rest_wav2.started', tThisFlipGlobal)
+                # update status
+                rest_wav2.status = STARTED
+                rest_wav2.play(when=win)  # sync with win flip
+            
+            # if rest_wav2 is stopping this frame...
+            if rest_wav2.status == STARTED:
+                # is it time to stop? (based on global clock, using actual start)
+                if tThisFlipGlobal > rest_wav2.tStartRefresh + 2-frameTolerance:
+                    # keep track of stop time/frame for later
+                    rest_wav2.tStop = t  # not accounting for scr refresh
+                    rest_wav2.frameNStop = frameN  # exact frame index
+                    # add timestamp to datafile
+                    thisExp.timestampOnFlip(win, 'rest_wav2.stopped')
+                    # update status
+                    rest_wav2.status = FINISHED
+                    rest_wav2.stop()
+            # update rest_wav2 status according to whether it's playing
+            if rest_wav2.isPlaying:
+                rest_wav2.status = STARTED
+            elif rest_wav2.isFinished:
+                rest_wav2.status = FINISHED
+            
+            # check for quit (typically the Esc key)
+            if defaultKeyboard.getKeys(keyList=["escape"]):
+                thisExp.status = FINISHED
+            if thisExp.status == FINISHED or endExpNow:
+                endExperiment(thisExp, inputs=inputs, win=win)
+                return
+            
+            # check if all components have finished
+            if not continueRoutine:  # a component has requested a forced-end of Routine
+                routineForceEnded = True
+                break
+            continueRoutine = False  # will revert to True if at least one component still running
+            for thisComponent in restComponents:
+                if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                    continueRoutine = True
+                    break  # at least one component has not yet finished
+            
+            # refresh the screen
+            if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+                win.flip()
+        
+        # --- Ending Routine "rest" ---
+        for thisComponent in restComponents:
+            if hasattr(thisComponent, "setAutoDraw"):
+                thisComponent.setAutoDraw(False)
+        thisExp.addData('rest.stopped', globalClock.getTime())
+        rest_wav1.pause()  # ensure sound has stopped at end of Routine
+        rest_wav2.pause()  # ensure sound has stopped at end of Routine
+        # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
+        if routineForceEnded:
+            routineTimer.reset()
+        else:
+            routineTimer.addTime(-6.000000)
+        thisExp.nextEntry()
+        
+        if thisSession is not None:
+            # if running in a Session with a Liaison client, send data up to now
+            thisSession.sendExperimentData()
+    # completed args.n_trials repeats of 'trials'
+    
+    
+    # --- Prepare to start Routine "end" ---
+    continueRoutine = True
+    # update component parameters for each repeat
+    thisExp.addData('end.started', globalClock.getTime())
+    # keep track of which components have finished
+    endComponents = [end_text]
+    for thisComponent in endComponents:
+        thisComponent.tStart = None
+        thisComponent.tStop = None
+        thisComponent.tStartRefresh = None
+        thisComponent.tStopRefresh = None
+        if hasattr(thisComponent, 'status'):
+            thisComponent.status = NOT_STARTED
+    # reset timers
+    t = 0
+    _timeToFirstFrame = win.getFutureFlipTime(clock="now")
+    frameN = -1
+    
+    # --- Run Routine "end" ---
+    routineForceEnded = not continueRoutine
+    while continueRoutine and routineTimer.getTime() < 3.0:
+        # get current time
+        t = routineTimer.getTime()
+        tThisFlip = win.getFutureFlipTime(clock=routineTimer)
+        tThisFlipGlobal = win.getFutureFlipTime(clock=None)
+        frameN = frameN + 1  # number of completed frames (so 0 is the first frame)
+        # update/draw components on each frame
+        
+        # *end_text* updates
+        
+        # if end_text is starting this frame...
+        if end_text.status == NOT_STARTED and tThisFlip >= 0.0-frameTolerance:
+            # keep track of start time/frame for later
+            end_text.frameNStart = frameN  # exact frame index
+            end_text.tStart = t  # local t and not account for scr refresh
+            end_text.tStartRefresh = tThisFlipGlobal  # on global time
+            win.timeOnFlip(end_text, 'tStartRefresh')  # time at next scr refresh
+            # add timestamp to datafile
+            thisExp.timestampOnFlip(win, 'end_text.started')
+            # update status
+            end_text.status = STARTED
+            end_text.setAutoDraw(True)
+        
+        # if end_text is active this frame...
+        if end_text.status == STARTED:
+            # update params
+            pass
+        
+        # if end_text is stopping this frame...
+        if end_text.status == STARTED:
+            # is it time to stop? (based on global clock, using actual start)
+            if tThisFlipGlobal > end_text.tStartRefresh + 3-frameTolerance:
+                # keep track of stop time/frame for later
+                end_text.tStop = t  # not accounting for scr refresh
+                end_text.frameNStop = frameN  # exact frame index
+                # add timestamp to datafile
+                thisExp.timestampOnFlip(win, 'end_text.stopped')
+                # update status
+                end_text.status = FINISHED
+                end_text.setAutoDraw(False)
+        
+        # check for quit (typically the Esc key)
+        if defaultKeyboard.getKeys(keyList=["escape"]):
+            thisExp.status = FINISHED
+        if thisExp.status == FINISHED or endExpNow:
+            endExperiment(thisExp, inputs=inputs, win=win)
+            return
+        
+        # check if all components have finished
+        if not continueRoutine:  # a component has requested a forced-end of Routine
+            routineForceEnded = True
+            break
+        continueRoutine = False  # will revert to True if at least one component still running
+        for thisComponent in endComponents:
+            if hasattr(thisComponent, "status") and thisComponent.status != FINISHED:
+                continueRoutine = True
+                break  # at least one component has not yet finished
+        
+        # refresh the screen
+        if continueRoutine:  # don't flip if this routine is over or we'll get a blank screen
+            win.flip()
+    
+    # --- Ending Routine "end" ---
+    for thisComponent in endComponents:
+        if hasattr(thisComponent, "setAutoDraw"):
+            thisComponent.setAutoDraw(False)
+    thisExp.addData('end.stopped', globalClock.getTime())
+    # using non-slip timing so subtract the expected duration of this Routine (unless ended on request)
+    if routineForceEnded:
+        routineTimer.reset()
+    else:
+        routineTimer.addTime(-3.000000)
+    
+    # mark experiment as finished
+    endExperiment(thisExp, win=win, inputs=inputs)
+
+
+def saveData(thisExp):
+    """
+    Save data from this experiment
+    
+    Parameters
+    ==========
+    thisExp : psychopy.data.ExperimentHandler
+        Handler object for this experiment, contains the data to save and information about 
+        where to save it to.
+    """
+    filename = thisExp.dataFileName
+    # these shouldn't be strictly necessary (should auto-save)
+    thisExp.saveAsWideText(filename + '.csv', delim='auto')
+    thisExp.saveAsPickle(filename)
+
+
+def endExperiment(thisExp, inputs=None, win=None):
+    """
+    End this experiment, performing final shut down operations.
+    
+    This function does NOT close the window or end the Python process - use `quit` for this.
+    
+    Parameters
+    ==========
+    thisExp : psychopy.data.ExperimentHandler
+        Handler object for this experiment, contains the data to save and information about 
+        where to save it to.
+    inputs : dict
+        Dictionary of input devices by name.
+    win : psychopy.visual.Window
+        Window for this experiment.
+    """
+    if win is not None:
+        # remove autodraw from all current components
+        win.clearAutoDraw()
+        # Flip one final time so any remaining win.callOnFlip() 
+        # and win.timeOnFlip() tasks get executed
+        win.flip()
+    # mark experiment handler as finished
+    thisExp.status = FINISHED
+    # shut down eyetracker, if there is one
+    if inputs is not None:
+        if 'eyetracker' in inputs and inputs['eyetracker'] is not None:
+            inputs['eyetracker'].setConnectionState(False)
+    logging.flush()
+
+
+def quit(thisExp, win=None, inputs=None, thisSession=None):
+    """
+    Fully quit, closing the window and ending the Python process.
+    
+    Parameters
+    ==========
+    win : psychopy.visual.Window
+        Window to close.
+    inputs : dict
+        Dictionary of input devices by name.
+    thisSession : psychopy.session.Session or None
+        Handle of the Session object this experiment is being run from, if any.
+    """
+    thisExp.abort()  # or data files will save again on exit
+    # make sure everything is closed down
+    if win is not None:
+        # Flip one final time so any remaining win.callOnFlip() 
+        # and win.timeOnFlip() tasks get executed before quitting
+        win.flip()
+        win.close()
+    if inputs is not None:
+        if 'eyetracker' in inputs and inputs['eyetracker'] is not None:
+            inputs['eyetracker'].setConnectionState(False)
+    logging.flush()
+    if thisSession is not None:
+        thisSession.stop()
+    # terminate Python process
+    core.quit()
+
+
+# if running this experiment as a script...
+if __name__ == '__main__':
+    # call all functions in order
+    expInfo = showExpInfoDlg(expInfo=expInfo)
+    thisExp = setupData(expInfo=expInfo)
+    logFile = setupLogging(filename=thisExp.dataFileName)
+    win = setupWindow(expInfo=expInfo)
+    inputs = setupInputs(expInfo=expInfo, thisExp=thisExp, win=win)
+    run(
+        expInfo=expInfo, 
+        thisExp=thisExp, 
+        win=win, 
+        inputs=inputs
+    )
+    saveData(thisExp=thisExp)
+    quit(thisExp=thisExp, win=win, inputs=inputs)