Bump pillow from 5.0.0 to 6.2.0

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>

iba_holodeck/brainvisualizer.json

@@ -0,0 +1 @@
+{}

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>

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>

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>

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
+        }
+    ]
+}

iba_holodeck/iba_holodeck.uis

@@ -0,0 +1,9 @@
+{
+    "camera": {
+        "defaultMode": "free-camera",
+        "sensitivity": {
+            "translation": 1.0,
+            "rotation": 1.0
+        }
+    }
+}

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)
+#
+

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
+#
+

template_requirements.txt

@@ -1 +1 @@
-pillow==5.0.0
+pillow==6.2.0