From 65ef635d6d0d23fe7025c38a504892daccfb9df7 Mon Sep 17 00:00:00 2001
From: Eloy Retamino <retamino@ugr.es>
Date: Mon, 2 Dec 2019 12:05:21 +0000
Subject: [PATCH 1/3] Merged in NRRPLT-7700-tf-execution-order (pull request
 #53)

[NRRPLT-7700] Added order attribute to transfer function type definition

Approved-by: Michael Zechmair <michael.zechmair@in.tum.de>
Approved-by: Ugo Albanese <ugo.albanese@santannapisa.it>
---
 bibi_configuration.xsd | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/bibi_configuration.xsd b/bibi_configuration.xsd
index bcb4850..b5c49ed 100644
--- a/bibi_configuration.xsd
+++ b/bibi_configuration.xsd
@@ -244,6 +244,11 @@
             <xs:documentation>The 'src' attribute denotes the path of a python file that contains the entire transfer function. If this attribute is present, the actual contents of the transfer function element is ignored and only the contents of the specified Python file are taken into account.</xs:documentation>
           </xs:annotation>
         </xs:attribute>
+        <xs:attribute name="priority" type="xs:nonNegativeInteger" use="optional">
+          <xs:annotation>
+            <xs:documentation>The 'priority' attribute is used to specify the order in which transfer functions are executed at every simulation step. Transfer functions with higher priority are executed first.</xs:documentation>
+          </xs:annotation>
+        </xs:attribute>
       </xs:extension>
     </xs:complexContent>
   </xs:complexType>

From 2ff42f17c189c45e7928864add0f027a1da91dd2 Mon Sep 17 00:00:00 2001
From: Michael Zechmair <michael.zechmair@in.tum.de>
Date: Tue, 17 Dec 2019 16:04:04 +0000
Subject: [PATCH 2/3] Added IBA Experiment

---
 iba_holodeck/brainvisualizer.json        |   1 +
 iba_holodeck/iba.launch                  |   6 ++
 iba_holodeck/iba_holodeck.bibi           |  12 +++
 iba_holodeck/iba_holodeck.exc            |  23 ++++++
 iba_holodeck/iba_holodeck.ini            |  92 +++++++++++++++++++++++
 iba_holodeck/iba_holodeck.jpg            | Bin 0 -> 17834 bytes
 iba_holodeck/iba_holodeck.uis            |   9 +++
 iba_holodeck/move_target.py              |  37 +++++++++
 iba_holodeck/resources/textures/1146.png | Bin 0 -> 219 bytes
 iba_holodeck/resources/textures/307.png  | Bin 0 -> 242 bytes
 iba_holodeck/resources/textures/3150.png | Bin 0 -> 222 bytes
 iba_holodeck/resources/textures/4442.png | Bin 0 -> 226 bytes
 iba_holodeck/tf_results.py               |  23 ++++++
 13 files changed, 203 insertions(+)
 create mode 100644 iba_holodeck/brainvisualizer.json
 create mode 100644 iba_holodeck/iba.launch
 create mode 100644 iba_holodeck/iba_holodeck.bibi
 create mode 100644 iba_holodeck/iba_holodeck.exc
 create mode 100644 iba_holodeck/iba_holodeck.ini
 create mode 100644 iba_holodeck/iba_holodeck.jpg
 create mode 100644 iba_holodeck/iba_holodeck.uis
 create mode 100644 iba_holodeck/move_target.py
 create mode 100644 iba_holodeck/resources/textures/1146.png
 create mode 100644 iba_holodeck/resources/textures/307.png
 create mode 100644 iba_holodeck/resources/textures/3150.png
 create mode 100644 iba_holodeck/resources/textures/4442.png
 create mode 100644 iba_holodeck/tf_results.py

diff --git a/iba_holodeck/brainvisualizer.json b/iba_holodeck/brainvisualizer.json
new file mode 100644
index 0000000..9e26dfe
--- /dev/null
+++ b/iba_holodeck/brainvisualizer.json
@@ -0,0 +1 @@
+{}
\ No newline at end of file
diff --git a/iba_holodeck/iba.launch b/iba_holodeck/iba.launch
new file mode 100644
index 0000000..f36b4ce
--- /dev/null
+++ b/iba_holodeck/iba.launch
@@ -0,0 +1,6 @@
+<launch>
+    <node name="manager_module" pkg="iba_multimodule_experiment" type="manager_module.py" respawn="false" output="screen"/>
+    <node name="module1" pkg="iba_multimodule_experiment" type="module1.py" respawn="false" output="screen"/>
+    <node name="module2" pkg="iba_multimodule_experiment" type="module2.py" respawn="false" output="screen"/>
+    <node name="module3" pkg="iba_multimodule_experiment" type="module3.py" respawn="false" output="screen"/>
+</launch>
diff --git a/iba_holodeck/iba_holodeck.bibi b/iba_holodeck/iba_holodeck.bibi
new file mode 100644
index 0000000..f444e30
--- /dev/null
+++ b/iba_holodeck/iba_holodeck.bibi
@@ -0,0 +1,12 @@
+<?xml version="1.0" ?>
+<ns1:bibi xmlns:ns1="http://schemas.humanbrainproject.eu/SP10/2014/BIBI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+	<ns1:brainModel>
+		<ns1:file>brain_model/braitenberg.py</ns1:file>
+		<ns1:populations from="0" population="sensors" to="5" xsi:type="ns1:Range"/>
+		<ns1:populations from="5" population="actors" to="8" xsi:type="ns1:Range"/>
+		<ns1:populations from="0" population="record" to="8" xsi:type="ns1:Range"/>
+	</ns1:brainModel>
+	<ns1:bodyModel robotId="icub">icub_model/model.sdf</ns1:bodyModel>
+	<ns1:transferFunction src="move_target.py" xsi:type="ns1:PythonTransferFunction"/>
+	<ns1:transferFunction src="tf_results.py" xsi:type="ns1:PythonTransferFunction"/>
+</ns1:bibi>
diff --git a/iba_holodeck/iba_holodeck.exc b/iba_holodeck/iba_holodeck.exc
new file mode 100644
index 0000000..be36a97
--- /dev/null
+++ b/iba_holodeck/iba_holodeck.exc
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ExD xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+     xmlns="http://schemas.humanbrainproject.eu/SP10/2014/ExDConfig"
+     xsi:schemaLocation="http://schemas.humanbrainproject.eu/SP10/2014/ExDConfig ../ExDConfFile.xsd">
+    <name>Holodeck IBA experiment </name>
+    <thumbnail>iba_holodeck.jpg</thumbnail>
+    <description>In this experiment, we show how data can be shared and synchronization can be achieved in IBA.</description>
+    <tags>iba robotics holodeck</tags>
+    <timeout>840</timeout>
+    <configuration type="3d-settings" src="iba_holodeck.ini"/>
+    <configuration type="brainvisualizer" src="brainvisualizer.json"/>
+	<configuration type="user-interaction-settings" src="iba_holodeck.uis"/>
+    <maturity>production</maturity>
+    <environmentModel src="virtual_room/virtual_room_tracking_icub.sdf">
+        <robotPose robotId="icub" x="0.0" y="0.0" z="0.644" roll="0.0" pitch="0.0" yaw="-1.570796"/>
+    </environmentModel>
+    <bibiConf src="iba_holodeck.bibi"/>
+    <cameraPose>
+        <cameraPosition x="2.1504202465717563" y="1.2381462778435453" z="1.3380507195673994"/>
+        <cameraLookAt x="0.0" y="1.48" z="0.6"/>
+    </cameraPose>
+    <rosLaunch src="iba.launch"/>
+</ExD>
diff --git a/iba_holodeck/iba_holodeck.ini b/iba_holodeck/iba_holodeck.ini
new file mode 100644
index 0000000..ea6d64c
--- /dev/null
+++ b/iba_holodeck/iba_holodeck.ini
@@ -0,0 +1,92 @@
+{
+    "dynamicEnvMap": true,
+    "shadows": true,
+    "antiAliasing": true,
+    "ssao": false,
+    "ssaoDisplay": false,
+    "ssaoClamp": "0.94",
+    "ssaoLumInfluence": "1",
+    "rgbCurve": {
+        "red": [
+            [
+                0,
+                0
+            ],
+            [
+                0.410400390625,
+                0.4481201171875
+            ],
+            [
+                0.761962890625,
+                0.7957763671875
+            ],
+            [
+                1,
+                1
+            ]
+        ],
+        "green": [
+            [
+                0,
+                0
+            ],
+            [
+                0.261962890625,
+                0.2801513671875
+            ],
+            [
+                0.718994140625,
+                0.7371826171875
+            ],
+            [
+                1,
+                1
+            ]
+        ],
+        "blue": [
+            [
+                0,
+                0
+            ],
+            [
+                0.265869140625,
+                0.2606201171875
+            ],
+            [
+                0.840087890625,
+                0.7645263671875
+            ],
+            [
+                1,
+                1
+            ]
+        ]
+    },
+    "levelsInBlack": "0.09",
+    "levelsInGamma": 0.52,
+    "levelsInWhite": "0.8",
+    "levelsOutBlack": 0,
+    "levelsOutWhite": 1,
+    "skyBox": "forest",
+    "sun": "",
+    "bloom": false,
+    "bloomStrength": "0.83",
+    "bloomRadius": "0.29",
+    "bloomThreshold": "0.91",
+    "fog": true,
+    "fogDensity": "0.02",
+    "fogColor": "#97a2af",
+    "pbrMaterial": true,
+    "shadowSettings": [
+        {
+            "lightName": "sun",
+            "mapSize": 4096,
+            "cameraBottom": -10,
+            "cameraLeft": -10,
+            "cameraRight": 10,
+            "cameraTop": 25,
+            "bias": 0.0003,
+            "radius": 1.2
+        }
+    ]
+}
\ No newline at end of file
diff --git a/iba_holodeck/iba_holodeck.jpg b/iba_holodeck/iba_holodeck.jpg
new file mode 100644
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diff --git a/iba_holodeck/iba_holodeck.uis b/iba_holodeck/iba_holodeck.uis
new file mode 100644
index 0000000..cca085f
--- /dev/null
+++ b/iba_holodeck/iba_holodeck.uis
@@ -0,0 +1,9 @@
+{
+    "camera": {
+        "defaultMode": "free-camera",
+        "sensitivity": {
+            "translation": 1.0,
+            "rotation": 1.0
+        }
+    }
+}
diff --git a/iba_holodeck/move_target.py b/iba_holodeck/move_target.py
new file mode 100644
index 0000000..1e103b0
--- /dev/null
+++ b/iba_holodeck/move_target.py
@@ -0,0 +1,37 @@
+# Imported Python Transfer Function
+#
+from gazebo_msgs.srv import SetModelState
+import rospy
+rospy.wait_for_service("/gazebo/set_model_state")
+service_proxy = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState, persistent=True)
+@nrp.MapVariable("target_freq", initial_value=0.3)
+@nrp.MapVariable("target_ampl", initial_value=0.3)
+@nrp.MapVariable("target_center", initial_value={'x': 0, 'y': 2.42, 'z': 1.2})
+@nrp.MapVariable("set_model_state_srv", initial_value=service_proxy)
+@nrp.Robot2Neuron() # dummy R2N
+def move_target(t, target_freq, target_ampl, target_center, set_model_state_srv):
+    ms_msg =  gazebo_msgs.msg.ModelState()
+    frequency = target_freq.value
+    amplitude = target_ampl.value
+    center = target_center.value
+    ms_msg.model_name = 'Target'
+    # set orientation RYP axes
+    ms_msg.pose.orientation.x = 0
+    ms_msg.pose.orientation.y = 1
+    ms_msg.pose.orientation.z = 1
+    # reference frame
+    ms_msg.reference_frame = 'world'
+    #pose
+    ms_msg.pose.position.x = \
+        center['x'] + np.sin(t * frequency * 2 * np.pi) * (float(amplitude) / 2)
+    ms_msg.pose.position.y = center['y']
+    ms_msg.pose.position.z = center['z']
+    #scale
+    ms_msg.scale.x = ms_msg.scale.y = ms_msg.scale.z = 1.0
+    #call service
+    response = set_model_state_srv.value(ms_msg)
+    #check response
+    if not response.success:
+        clientLogger.info(response.status_message)
+#
+
diff --git a/iba_holodeck/resources/textures/1146.png b/iba_holodeck/resources/textures/1146.png
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diff --git a/iba_holodeck/resources/textures/4442.png b/iba_holodeck/resources/textures/4442.png
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diff --git a/iba_holodeck/tf_results.py b/iba_holodeck/tf_results.py
new file mode 100644
index 0000000..135dcb1
--- /dev/null
+++ b/iba_holodeck/tf_results.py
@@ -0,0 +1,23 @@
+# Imported Python Transfer Function
+#
+from std_msgs.msg import Float64
+@nrp.MapVariable("eye_position", scope=nrp.GLOBAL)
+@nrp.MapSpikeSink("result_0_dv", nrp.brain.actors[1], nrp.leaky_integrator_alpha)
+@nrp.MapSpikeSink("result_1_dv", nrp.brain.actors[2], nrp.leaky_integrator_alpha)
+@nrp.Neuron2Robot(Topic('/icub/eye_version/pos', Float64))
+def tf_results(t, eye_position, result_0_dv, result_1_dv):
+    def deg2rad(deg):
+        """
+        Degrees to radians conversion function.
+        :param deg: value in degrees
+        :return: value of deg in radians
+        """
+        return (float(deg) / 360.) * (2. * np.pi)
+    if eye_position.value is None:
+        return 0.0
+    d = result_1_dv.voltage - result_0_dv.voltage
+    max_mov = 1.0
+    ret = eye_position.value + deg2rad(-((d + 0.03) / 0.09 * 2 * max_mov - max_mov))
+    return ret
+#
+

From 30f2a48c7aeb3d03a30c37163b7dc1e4c212f377 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Tue, 17 Dec 2019 16:20:58 +0000
Subject: [PATCH 3/3] Bump pillow from 5.0.0 to 6.2.0

Bumps [pillow](https://github.com/python-pillow/Pillow) from 5.0.0 to 6.2.0.
- [Release notes](https://github.com/python-pillow/Pillow/releases)
- [Changelog](https://github.com/python-pillow/Pillow/blob/master/CHANGES.rst)
- [Commits](https://github.com/python-pillow/Pillow/compare/5.0.0...6.2.0)

Signed-off-by: dependabot[bot] <support@github.com>
---
 template_requirements.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/template_requirements.txt b/template_requirements.txt
index d0a3e3e..3d03442 100644
--- a/template_requirements.txt
+++ b/template_requirements.txt
@@ -1 +1 @@
-pillow==5.0.0
\ No newline at end of file
+pillow==6.2.0
\ No newline at end of file