Infant Experiments

Linux machine log in info:
username: robotlearning2
password: robotlearning2

You can open this file in chrome for a better viewing experience. Point the browser to file:///home/robotlearning2/infants/notes.md

NTP time sync

The linux machine will serve time to the Windows machine.
Connect the two via ethernet. In Windows Administrator CMD prompt: w32tm /query /status
That should report Leap Indicator: 0 and report the linux machine (192.168.253.201) as the source.
If not, they aren't synchronized. You can try: w32tm /resync /force and then query status again.
Should that fail, you can restart w32tm. net stop w32time
net start w32time
w32tm /resync /force

Running Trials

1. Open a terminal on linux machine.
2. Check if NAS (synology) is mounted: Run: mountpoint -q ~/synology-tuli && echo "Mounted" || echo "Not mounted" If output is "Not mounted": Run: sudo mount -t nfs 192.168.253.1:/volume1/tuli ~/synology-tuli
3. cd ~/infants/
4. Launch the cameras: ./start_all.sh
   Verify that they start with the command:

./check_cams.sh

You should see all 6 camera topics (color image raw and aligned depth image raw for cameras L, M, R).

4. Activate the virtualenv, source ~/envs/infants/bin/activate and run the experiment script: python experiment/experiment_driver.py.

5. It will prompt for subject ID, task name, and condition ID. Make sure the subject ID 3 digits. Example (1) write 001 for (2) write 002 Subject ID should be an integer. Task should be in [bang, slide, hammer].
   Condition numbers:

   1. Soft Board - Headphones (low haptics, low audio )
   2. Soft Board - No Headphones (low haptics, high audio)
   3. Hard Board - Headphones (high haptics, low audio )
   4. Hard Board - No Headphones (high haptics, high audio)
   5. Wash Board - Headphones (high haptics, low audio )
   6. Wash Board - No Headphones (high haptics, high audio)
   7. Soft Board and Button - Headphones (high haptics, low audio )
   8. Soft Board and Button - No Headphones (high haptics, high audio)

6. Press ENTER to stop recording that trial.

7. Say [y/n] to keep trial or delete.

8. Press ctrl+c to interrupt and kill the program.

Network Setup

Windows IP: 192.168.253.101
Linux IP: 192.168.253.201
Synology NAS: 192.168.253.1 Web interface for synology: 192.168.253.1:5000.
Synology: robin, Robot123.
To mount: sudo mount -t nfs 192.168.253.1:/volume1/tuli ~/synology-tuli/, ps: robotlearning2
To rsync data: rsync -r --info=progress2 data /home/robotlearning2/synology-tuli/

ping windows desktop

set this IP on windows manually if needed. ping 192.168.253.101

visualizing data

rqt_bag <path to bag> and open a bagfile with the gui. This will show images but audio will not play properly.
rqt_image_view first and then rosbag play You can replay the audio with

c
roslaunch audio_play play.launch
rosbag play <path to bag>

additional commands:

1. rs-enumerate-devices

After recording video:

1. python process_marker_tsv.py
2. python visualize_data_on_image.py