Experiment Model Specification¶

Schema Document Properties¶

Target Namespace: http://schemas.humanbrainproject.eu/SP10/2014/ExDConfig
Element Qualifiers: By default, local element declarations belong to this schema’s target namespace.
Attribute Qualifiers: By default, local attribute declarations have no namespace.
Imports: This schema imports schema(s) from the following namespace(s): - http://schemas.humanbrainproject.eu/SP10/2015/ExDConfig/scxml

Declared Namespaces¶

Prefix	Namespace
(default)	http://schemas.humanbrainproject.eu/SP10/2014/ExDConfig
xml	http://www.w3.org/XML/1998/namespace
xsd	http://www.w3.org/2001/XMLSchema
xsi	http://www.w3.org/2001/XMLSchema-instance
bibi	http://schemas.humanbrainproject.eu/SP10/2014/BIBI
sc	http://schemas.humanbrainproject.eu/SP10/2015/ExDConfig/scxml
tns	http://schemas.humanbrainproject.eu/SP10/2014/ExDConfig

Global Declarations¶

Element: ExD¶

Name: ExD
Type: ExD
Multiplicity: [1]
Nillable: no
Abstract: no
Documentation: The root element of a experiment configuration model must be an ExD object.

XML Instance Representation¶

<ExD> ExD </ExD>

Global Definitions¶

Complex Type: BibiConf¶

Super-types	None
Sub-types	None

Name: BibiConf
Abstract: no
Documentation: 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.

Properties¶

Attribute src¶

Name: src
Type: string
Multiplicity: [1]
Documentation: The path to the BIBI configuration that specifies the model, the neural network and the connection between those.

Attribute processes¶

Name: processes
Type: positiveInteger
Multiplicity: [0..1]
Default Value: 1
Documentation: 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.

XML Instance Representation¶

<... src="string [1]" processes="positiveInteger [0..1]"/>

Complex Type: CameraPose¶

Super-types	None
Sub-types	None

Name: CameraPose
Abstract: no
Documentation: 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).

Properties¶

Element cameraPosition¶

Name: cameraPosition
Type: Position
Multiplicity: [1]
Nillable: no
Abstract: no
Documentation: The position of the camera

Element cameraLookAt¶

Name: cameraLookAt
Type: Position
Multiplicity: [1]
Nillable: no
Abstract: no
Documentation: The position to which the camera should look at

XML Instance Representation¶

<...>
   <cameraPosition> Position </cameraPosition> [1]
   <cameraLookAt> Position </cameraLookAt> [1]
</...>

Complex Type: ConfFile¶

Super-types	None
Sub-types	None

Name: ConfFile
Abstract: no
Documentation: 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.

Properties¶

Attribute src¶

Name: src
Type: string
Multiplicity: [1]
Documentation: The path to the file that acts as configuration. Files specified as configuration are automatically considered whe an experiment is deployed.

Attribute type¶

Name: type
Type: ConfType
Multiplicity: [1]
Documentation: The type of the configuration entry describes what this entry is used for. The NRP allows both predefined and custom entries.

XML Instance Representation¶

<... src="string [1]" type="ConfType [1]"/>

Complex Type: EnvironmentModel¶

Super-types	None
Sub-types	None

Name: EnvironmentModel
Abstract: no
Documentation: 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.

Properties¶

Element robotPose¶

Name: robotPose
Type: RobotPose
Multiplicity: [1]
Nillable: no
Abstract: no
Documentation: The position of the robot

Attribute src¶

Name: src
Type: string
Multiplicity: [1]
Documentation: A path to an SDF file that specifies the scene

XML Instance Representation¶

<... src="string [1]">
   <robotPose> RobotPose </robotPose> [1]
</...>

Complex Type: ExD¶

Super-types	None
Sub-types	None

Name: ExD
Abstract: no
Documentation: This type is the root type for an experiment configuration.

Properties¶

Element name¶

Name: name
Type: string
Multiplicity: [1]
Nillable: no
Abstract: no
Documentation: This element denotes the name of the experiment as it appears in the experiment list.

Element thumbnail¶

Name: thumbnail
Type: ThumbnailFile
Multiplicity: [1]
Nillable: no
Abstract: no
Documentation: This element references a path to a thumbnail that is used to give the user a forecast to the experiment.

Element description¶

Name: description
Type: string
Multiplicity: [1]
Nillable: no
Abstract: no
Documentation: This description will appear in the experiment description and provide a short description explaining what the experiment is all about.

Element timeout¶

Name: timeout
Type: double
Multiplicity: [0..1]
Nillable: no
Abstract: no
Documentation: 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.

Element configuration¶

Name: configuration
Type: ConfFile
Multiplicity: [0..*]
Nillable: no
Abstract: no
Documentation: An experiment may have multiple configuration entries. Despite configuration entries can be specified in anywhere in the ExD element, they must appear together.

Element maturity¶

Name: maturity
Type: MaturityType
Multiplicity: [0..1]
Nillable: no
Abstract: no
Documentation: The maturity of an experiment determines whether it is shown by default to the user or only browsable in dev mode.

Element environmentModel¶

Name: environmentModel
Type: EnvironmentModel
Multiplicity: [1]
Nillable: no
Abstract: no
Documentation: The environment model of an experiment specifies the used world file for a simulation and the pose where the robot should be spawned.

Element visualModel¶

Name: visualModel
Type: VisualModel
Multiplicity: [0..1]
Nillable: no
Abstract: no
Documentation: 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.

Element bibiConf¶

Name: bibiConf
Type: BibiConf
Multiplicity: [1]
Nillable: no
Abstract: no
Documentation: The bibiConf element of an experiment configuration specifies the

Element experimentControl¶

Name: experimentControl
Type: ExperimentControl
Multiplicity: [0..1]
Nillable: no
Abstract: no
Documentation: The experiment control lists all state machines that control the experiment.

Element experimentEvaluation¶

Name: experimentEvaluation
Type: ExperimentControl
Multiplicity: [0..1]
Nillable: no
Abstract: no
Documentation: The experiment evaluation element lists all state machines that evaluate the success of a simulated experiment.

Element cameraPose¶

Name: cameraPose
Type: CameraPose
Multiplicity: [0..1]
Nillable: no
Abstract: no
Documentation: The camera pose specifies the initial position of the camera when a simulation is started.

Element rosLaunch¶

Name: rosLaunch
Type: RosLaunch
Multiplicity: [0..1]
Nillable: no
Abstract: no
Documentation: 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.

Element rngSeed¶

Name: rngSeed
Type: positiveInteger
Multiplicity: [0..1]
Nillable: no
Abstract: no
Documentation: 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.

Element physicsEngine¶

Name: physicsEngine
Type: PhysicsEngine
Multiplicity: [0..1]
Nillable: no
Abstract: no
Documentation: If specified, this element denotes the physics simulator that should be used. We currently support either ODE or OpenSim.

XML Instance Representation¶

<...>
   <name> string </name> [1]
   <thumbnail> ThumbnailFile </thumbnail> [1]
   <description> string </description> [1]
   <timeout> double </timeout> [0..1]
   <configuration> ConfFile </configuration> [0..*]
   <maturity> MaturityType </maturity> [0..1]
   <environmentModel> EnvironmentModel </environmentModel> [1]
   <visualModel> VisualModel </visualModel> [0..1]
   <bibiConf> BibiConf </bibiConf> [1]
   <experimentControl> ExperimentControl <!-- Uniqueness Constraint - uniqueExperimentControlSelector - tns:stateMachineField(s) - @id--></experimentControl> [0..1]
   <experimentEvaluation> ExperimentControl <!-- Uniqueness Constraint - uniqueExperimentEvaluationSelector - tns:stateMachineField(s) - @id--></experimentEvaluation> [0..1]
   <cameraPose> CameraPose </cameraPose> [0..1]
   <rosLaunch> RosLaunch </rosLaunch> [0..1]
   <rngSeed> positiveInteger </rngSeed> [0..1]
   <physicsEngine> PhysicsEngine </physicsEngine> [0..1]
</...>

Complex Type: ExperimentControl¶

Super-types	None
Sub-types	None

Name: ExperimentControl
Abstract: no
Documentation: This type depicts a list of state machines

Properties¶

Element stateMachine¶

Name: stateMachine
Type: StateMachine
Multiplicity: [1..*]
Nillable: no
Abstract: no
Documentation: The actual state machines of this list of state machines

XML Instance Representation¶

<...>
   <stateMachine> StateMachine </stateMachine> [1..*]
</...>

Complex Type: Position¶

Super-types	None
Sub-types	None

Name: Position
Abstract: no
Documentation: This type denotes a position with x, y and z coordinates.

Properties¶

Attribute x¶

Name: x
Type: double
Multiplicity: [1]
Documentation: The x coordinate of the position

Attribute y¶

Name: y
Type: double
Multiplicity: [1]
Documentation: The y coordinate of the position

Attribute z¶

Name: z
Type: double
Multiplicity: [1]
Documentation: The z coordinate of the position

XML Instance Representation¶

<... x="double [1]" y="double [1]" z="double [1]"/>

Complex Type: RobotPose¶

Super-types	None
Sub-types	None

Name: RobotPose
Abstract: no
Documentation: This type represents a robot pose. It consists of a position part (x, y and z coordinates) and a rotation part (roll, pitch and yaw). All fields are double precision values.

Properties¶

Attribute x¶

Name: x
Type: double
Multiplicity: [1]
Documentation: The x coordinate of the robot position

Attribute y¶

Name: y
Type: double
Multiplicity: [1]
Documentation: The y coordinate of the robot position

Attribute z¶

Name: z
Type: double
Multiplicity: [1]
Documentation: The z coordinate of the robot position

Attribute roll¶

Name: roll
Type: double
Multiplicity: [1]

Attribute pitch¶

Name: pitch
Type: double
Multiplicity: [1]

Attribute yaw¶

Name: yaw
Type: double
Multiplicity: [1]

XML Instance Representation¶

<... x="double [1]" y="double [1]" z="double [1]" roll="double [1]" pitch="double [1]" yaw="double [1]"/>

Complex Type: RosLaunch¶

Super-types	None
Sub-types	None

Name: RosLaunch
Abstract: no
Documentation: This type denotes a Ros Launchfile configuration.

Properties¶

Attribute src¶

Name: src
Type: string
Multiplicity: [1]
Documentation: The path to a ROSLaunch file

XML Instance Representation¶

<... src="string [1]"/>

Complex Type: SCXMLStateMachine¶

Super-types	StateMachine < SCXMLStateMachine (by extension)
Sub-types	None

Name: SCXMLStateMachine
Abstract: no
Documentation: This type denotes an SCXML state machine. SCXML is a W3C standard for state charts. However, state machines in this format are currently not run. State machines in SCXML are currently not interpreted.

Properties¶

Element¶

Name
Type: anyType
Multiplicity: [0..1]
Nillable: no
Abstract: no

Attribute src¶

Name: src
Type: string
Multiplicity: [0..1]

XML Instance Representation¶

<... src="string [0..1]"> <!-- 'StateMachine' super type was not found in this schema. Some elements and attributes may be missing. -->
   <scxml> ... </scxml> [0..1]
</...>

Complex Type: SMACHStateMachine¶

Super-types	StateMachine < SMACHStateMachine (by extension)
Sub-types	None

Name: SMACHStateMachine
Abstract: no
Documentation: This type depicts a SMACH state machine. It is specified using a path to the source code of the state machine.

Properties¶

Attribute src¶

Name: src
Type: string
Multiplicity: [1]
Documentation: 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.

XML Instance Representation¶

<... src="string [1]"> <!-- 'StateMachine' super type was not found in this schema. Some elements and attributes may be missing. -->
</...>

Complex Type: StateMachine¶

Super-types	None
Sub-types	SMACHStateMachine (by extension) SCXMLStateMachine (by extension)

Name: StateMachine
Abstract: yes
Documentation: This abstract type depicts a state machine. Currently, State Machines in SMACH or SCXML are supported, though state machines in SCXML are currently ignored.

Properties¶

Attribute id¶

Name: id
Type: string
Multiplicity: [1]
Documentation: Any state machine must have an identifier. This identifier is used to communicate with the state machine and therefore must be an identifier.

XML Instance Representation¶

<... id="string [1]"/>

Complex Type: VisualModel¶

Super-types	None
Sub-types	None

Name: VisualModel
Abstract: no
Documentation: This type defines a visual model (for example for the robot) as used in the frontend.

Properties¶

Element visualPose¶

Name: visualPose
Type: RobotPose
Multiplicity: [1]
Nillable: no
Abstract: no

Attribute src¶

Name: src
Type: string
Multiplicity: [1]

Attribute scale¶

Name: scale
Type: double
Multiplicity: [0..1]

XML Instance Representation¶

<... src="string [1]" scale="double [0..1]">
   <visualPose> RobotPose </visualPose> [1]
</...>

Simple Type: ConfType¶

Super-types	None
Sub-types	None

Name: ConfType
Content: Union of following types: ConfTypeEnumerationstring
Documentation: This type denotes a configuration type which can be a standard configuration type or a custom type. The latter is just any string.

Simple Type: ConfTypeEnumeration¶

Super-types	string < ConfTypeEnumeration (by restriction)
Sub-types	None

Name: ConfTypeEnumeration
Content: Base XSD Type: stringvalue comes from list: {‘3d-settings’}
Documentation: This enumeration lists the standard configuration types used in the NRP.

Members¶

3d-settings

Simple Type: MaturityType¶

Super-types	string < MaturityType (by restriction)
Sub-types	None

Name: MaturityType
Content: Base XSD Type: stringvalue comes from list: {‘development’|’production’}
Documentation: This type denotes a maturity of an experiment. It can either be development or production.

Members¶

development
production

Simple Type: PhysicsEngine¶

Super-types	string < PhysicsEngine (by restriction)
Sub-types	None

Name: PhysicsEngine
Content: Base XSD Type: stringvalue comes from list: {‘ode’|’opensim’}
Documentation: This enumeration contains the physics engines supported by the NRP. This includes the standard physics engine ODE and OpenSim.

Members¶

ode
opensim

Simple Type: ThumbnailFile¶

Super-types	string < ThumbnailFile (by restriction)
Sub-types	None

Name: ThumbnailFile
Content: Base XSD Type: stringpattern = [a-zA-Z0-9._-/]*.(png|gif|jp[e]?g)
Documentation: 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.