hbp_nrp_commons.generated.exp_conf_api_gen module

class BibiConf(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

This type denotes the BIBI configuration used for this experiment. It is described using a reference to the BIBI model in the src attribute and an attribute processes to specify the number of processes that should be used to run the experiment. The default value for processes is 1.

property processes

The number of processes that should be used to run the neural network simulation. If this value is larger than 1, a dedicated simulation setup for distributed simulation of the neural network is used.

property src

The path to the BIBI configuration that specifies the model, the neural network and the connection between those.

class CameraPose(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

This type denotes a camera pose. Unlike the robot pose, a camera pose is specified using a position of the camera and a point to which the camera looks at. The camera is always rotated with the up vector z (0,0,1).

property cameraLookAt

The position to which the camera should look at

property cameraPosition

The position of the camera

class ConfFile(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

This type denotes a configuration entry. Configuration entries are used for multiple purposes, therefore the type of the configuration entry is set explicitly in an attribute called type. The actual configuration is referenced as a file through the src attribute.

property src

The path to the file that acts as configuration. Files specified as configuration are automatically considered whe an experiment is deployed.

property type

The type of the configuration entry describes what this entry is used for. The NRP allows both predefined and custom entries.

class ConfType(*args, **kw)

Bases: pyxb.binding.basis.STD_union

This type denotes a configuration type which can be a standard configuration type or a custom type. The latter is just any string.

n3d_settings = '3d-settings'

class ConfTypeEnumeration(*args, **kw)

Bases: pyxb.binding.datatypes.string, pyxb.binding.basis.enumeration_mixin

This enumeration lists the standard configuration types used in the NRP.

n3d_settings = '3d-settings'

CreateFromDOM(node, default_namespace=None)

Create a Python instance from the given DOM node. The node tag must correspond to an element declaration in this module.

@deprecated: Forcing use of DOM interface is unnecessary; use L{CreateFromDocument}.

CreateFromDocument(xml_text, default_namespace=None, location_base=None)

Parse the given XML and use the document element to create a Python instance.

@param xml_text An XML document. This should be data (Python 2 str or Python 3 bytes), or a text (Python 2 unicode or Python 3 str) in the L{pyxb._InputEncoding} encoding.

@keyword default_namespace The L{pyxb.Namespace} instance to use as the default namespace where there is no default namespace in scope. If unspecified or C{None}, the namespace of the module containing this function will be used.

@keyword location_base: An object to be recorded as the base of all L{pyxb.utils.utility.Location} instances associated with events and objects handled by the parser. You might pass the URI from which the document was obtained.

class EnvironmentModel(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

This type defines the necessary configuration for an environment. It combines the specification of an environment model through the src attribute and a robot pose using the element robotPose.

property model

Specifies the path to the custom model

property robotPose

The position of the robot

property src

A path to an SDF file that specifies the scene

class ExD_(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

This type is the root type for an experiment configuration.

property bibiConf

The bibiConf element of an experiment configuration specifies the

property cameraPose

The camera pose specifies the initial position of the camera when a simulation is started.

property cloneDate

If specified, the date when the experiment was cloned

property configuration

An experiment may have multiple configuration entries. Despite configuration entries can be specified in anywhere in the ExD element, they must appear together.

property description

This description will appear in the experiment description and provide a short description explaining what the experiment is all about.

property environmentModel

The environment model of an experiment specifies the used world file for a simulation and the pose where the robot should be spawned.

property experimentControl

The experiment control lists all state machines that control the experiment.

property experimentEvaluation

The experiment evaluation element lists all state machines that evaluate the success of a simulated experiment.

property gazeboLockstep

If specified, this element denotes the activation status of gazebo’s “Lockstep of physics and sensors” feature. see https://gazebosim.org/tutorials?tut=lockstep_physics_sensors

property gzbridgesettings

Settings for the relay of the component relaying information from the simulation backend to the visualization client.

property maturity

The maturity of an experiment determines whether it is shown by default to the user or only browsable in dev mode.

property name

This element denotes the name of the experiment as it appears in the experiment list.

property physicsEngine

If specified, this element denotes the physics simulator that should be used. We currently support either ODE or OpenSim.

property recordRosTopics

List of space separated ROS topics that shall be recorded to a rosbag file in addition to the standard topics.

property rngSeed

If specified, this element specifies the random number generator seed. If this field is left blank, a seed is generated and therefore, the simulation is not 100% deterministic. If a seed is specified here, this seed is used for the robot and neural simulation, making the simulation much more deterministic.

property rosLaunch

The roslaunch element species the path to a ROSLaunch file that is executed when the experiment is simulated. If no file is specified, no ROSLaunch file is executed at the beginning of an experiment.

property skinModel

With the skin model, an experiment can specify a skin model for the frontend visualization.

property tags

List of space separated tags that describe the experiment.

property thumbnail

This element references a path to a thumbnail that is used to give the user a forecast to the experiment.

property timeout

The timeout of an experiment is the time an experiment is allowed to run by default, specified in seconds. If that time has elapsed, the users are asked whether they want to extend the runtime of the simulation. On the servers, this will only be allowed if the timeout fits within the cluster allocation.

property visualModel

With the visual model, an experiment can specify an alternatively used model for the frontend visualization. This is helpful in case the robot model used in gazebo is very detailed and thus hard to visualize on the client. On the server, there may be more resources available to simulate more complex models.

class ExperimentControl(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

This type depicts a list of state machines

property stateMachine

The actual state machines of this list of state machines

class GzBridgeSettings(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

Complex type {http://schemas.humanbrainproject.eu/SP10/2014/ExDConfig}GzBridgeSettings with content type ELEMENT_ONLY

property pose_update_delta_rotation

The angle delta by which a pose must change for it to be relayed to the frontend.

property pose_update_delta_translation

The magnitude of translation delta by which a pose must change for it to be relayed to the frontend.

property pose_update_early_threshold

Maximal period during which larger thresholds are used rather than those defined in gzbridgesettings.

class MaturityType(*args, **kw)

Bases: pyxb.binding.datatypes.string, pyxb.binding.basis.enumeration_mixin

This type denotes a maturity of an experiment. It can either be development or production.

development = 'development'

production = 'production'

class PhysicsEngine(*args, **kw)

Bases: pyxb.binding.datatypes.string, pyxb.binding.basis.enumeration_mixin

This enumeration contains the physics engines supported by the NRP. This includes the standard physics engine ODE and OpenSim.

ode = 'ode'

opensim = 'opensim'

class Position(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

This type denotes a position with x, y and z coordinates.

property x

The x coordinate of the position

property y

The y coordinate of the position

property z

The z coordinate of the position

class RecordRosTopics(*args, **kw)

Bases: pyxb.binding.basis.STD_list

Simple type that is a list of pyxb.binding.datatypes.string.

class RobotPose(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

This type represents a robot pose. It consists of a position part (x, y and z coordinates in meters) and a rotation part (roll, pitch and yaw in radians). All fields are double precision values.

property pitch

Get the value of the attribute from the instance.

property robotId

Robot id the pose refers to

property roll

Get the value of the attribute from the instance.

property theta

Get the value of the attribute from the instance.

property ux

Get the value of the attribute from the instance.

property uy

Get the value of the attribute from the instance.

property uz

Get the value of the attribute from the instance.

property x

The x coordinate of the robot position

property y

The y coordinate of the robot position

property yaw

Get the value of the attribute from the instance.

property z

The z coordinate of the robot position

class RosLaunch(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

This type denotes a Ros Launchfile configuration.

property src

The path to a ROSLaunch file

class SMACHStateMachine(*args, **kw)

Bases: hbp_nrp_commons.generated.exp_conf_api_gen.StateMachine

This type depicts a SMACH state machine. It is specified using a path to the source code of the state machine.

property src

The path to an Python script that describes the state machine. This script has to have a variable with global scope that must have the name sm or stateMachine.

class SkinModel(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

This type defines a skin model (for example for the robot) as used in the frontend.

property src

Get the value of the attribute from the instance.

class StateMachine(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

This abstract type depicts a state machine. Currently, State Machines in SMACH are supported.

property id

Any state machine must have an identifier. This identifier is used to communicate with the state machine and therefore must be an identifier.

class Tags(*args, **kw)

Bases: pyxb.binding.basis.STD_list

Simple type that is a list of pyxb.binding.datatypes.string.

class ThumbnailFile(*args, **kw)

Bases: pyxb.binding.datatypes.string

This type denotes a path to an image file. The supported extensions are .png, .jpg, .jpeg and .gif. The file name must not contain whitespaces.

class Timeout(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

Complex type {http://schemas.humanbrainproject.eu/SP10/2014/ExDConfig}Timeout with content type SIMPLE

property time

Get the value of the attribute from the instance.

class TimeoutTime(*args, **kw)

Bases: pyxb.binding.datatypes.string, pyxb.binding.basis.enumeration_mixin

An atomic simple type.

real = 'real'

simulation = 'simulation'

class VisualModel(*args, **kw)

Bases: pyxb.binding.basis.complexTypeDefinition

This type defines a visual model (for example for the robot) as used in the frontend.

property scale

Get the value of the attribute from the instance.

property src

Get the value of the attribute from the instance.

property visualPose

Return the value for this use within the given instance.

Note that this is the L{resetValue()}, not the L{defaultValue()}, if the element has not yet been assigned a value.