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

Running Trials

Make sure Linux laptop connected to lab PC and time is synchronized.
See below --- chronyc tracking report latency to the desktop (192.168.253.101).

1. Open a terminal
2. cd ~/infants/
3. Launch the cameras: ./start_all.sh
   Verify that they start with the command:

rostopic hz /cam_R/color/image_raw /cam_L/color/image_raw /cam_R/aligned_depth_to_color/image_raw /cam_L/aligned_depth_to_color/image_raw

4. Run the experiment script: python experiment/experiment_driver.py.

5. It will prompt for subject ID, task name, and condition ID. Subject ID should be an integer. Task should be in [bang, slide, hammer].
   Condition numbers for banging:

   1. hard-sphere (high haptic, high audio)
   2. soft-sphere (high haptic, low audio)
   3. soft-rattle (low haptic, high audio)
   4. hard-sphere-muffled (high haptic, low audio)

   Condition numbers for sliding:

   1. washboard-sphere (high haptic, high audio)
   2. soft-sphere (high haptic, low audio)
   3. soft-rattle (low haptic, high audio)
   4. washboard-sphere-muffled (high haptic, low 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: ping 192.168.253.101
Linux IP: 192.168.253.201

set laptop IP

Once ethernet is plugged in, it should automatically assign the IP.
ip addr should show 192.168.253.201.
You can manually set it like so:
sudo ip addr add 192.168.253.201/24 dev enp1s0

ping windows desktop

set this IP on windows manually. ping 192.168.253.101

chrony configuration -- add the server to the config and verify

sudo vim /etc/chrony/chrony.conf
chronyc sources # <-- should report 192.168.253.101 with *
chronyc tracking # <-- should tell latency to the server