Merged in NRRPLT-7911-refactor-parsing-and-process (pull request #56)

[NRRPLT-7911] Refactor parsing and processing of models in experiments.

* [NRRPLT-7911] Add production brains
* [NRRPLT-7911] Add copy-to-storage script

Approved-by: Eloy Retamino
Approved-by: Antoine Detailleur

brain_model/CPG_brain.py

@@ -16,8 +16,12 @@ import time
 import sys
 import Population_Utils as PU
 import SNN_column
-reload(SNN_column)
 
+try:
+    reload(SNN_column)
+except:
+    import importlib
+    importlib.reload(SNN_column)
 
 logger = logging.getLogger(__name__)
 

brains/braitenberg/model.config

+<?xml version='1.0'?>
+<model xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config" xsi:schemaLocation="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config ../brain_model_configuration.xsd">
+	<name>braitenberg</name>
+	<version>1.0</version>
+        <maturity>production</maturity>
+	<brain>braitenberg.py</brain>
+	<sdf version="1.6">model.sdf</sdf>
+	<author>
+		<name>Lazar Mateev</name>
+	</author>
+	<author>
+		<name>Georg Hinkel</name>
+	</author>
+	<description>
+	    This file contains the setup of the neuronal network running the Husky experiment with neuronal image recognition
+    </description>
+</model>

brains/braitenberg_explorer_brain/model.config

+<?xml version='1.0'?>
+<model xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config" xsi:schemaLocation="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config ../brain_model_configuration.xsd">
+	<name>braitenberg explorer brain</name>
+	<version>1.0</version>
+        <maturity>production</maturity>
+	<brain>braitenberg_explorer_brain.py</brain>
+	<sdf version="1.6">model.sdf</sdf>
+	<author>
+		<name>Loic Jeanningros</name>
+	</author>
+	
+	<description>
+	    This is a brain with 2 sensory neurons connected to 2 actor neurons.
+This brain reproduces the 'Explorer' behavior of the Braitenberg 3D vehicle.
+There is one small difference: the connections are excitatory,
+the activity of the 'actors' neurons population is subtracted to ongoing movement in the transfer function 'velocity_commands', thus reproducing the inhibitory effect.
+    </description>
+</model>

brains/braitenberg_mouse/model.config

+<?xml version='1.0'?>
+<model xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config" xsi:schemaLocation="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config ../brain_model_configuration.xsd">
+	<name>braitenberg mouse</name>
+	<version>1.0</version>
+        <maturity>production</maturity>
+	<sdf version="1.6">model.sdf</sdf>
+	<brain>braitenberg_mouse.py</brain>
+	<author>
+		<name>Lazar Mateev</name>
+	</author>
+	<author>
+		<name>Georg Hinkel</name>
+	</author>
+	<author>
+		<name>Alina Roitberg</name>
+	</author>
+	<description>
+	    This file contains the setup of the neuronal network running the Mouse experiment with neuronal image recognition
+    </description>
+</model>

brains/extended_braitenberg/model.config

+<?xml version='1.0'?>
+<model xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config" xsi:schemaLocation="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config ../brain_model_configuration.xsd">
+	<name>extended braitenberg</name>
+	<version>1.0</version>
+        <maturity>production</maturity>
+	<brain>extended_braitenberg.py</brain>
+	<sdf version="1.6">model.sdf</sdf>
+	<author>
+		<name>Lazar Mateev</name>
+	</author>
+	<author>
+		<name>Georg Hinkel</name>
+	</author>
+	<description>
+	    This file contains the setup of the neuronal network running the Husky experiment with neuronal image recognition
+    </description>
+</model>

brains/idle_brain/model.config

+<?xml version='1.0'?>
+<model xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config" xsi:schemaLocation="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config ../brain_model_configuration.xsd">
+	<name>idle brain</name>
+	<version>1.0</version>
+        <maturity>production</maturity>
+	<brain>idle_brain.py</brain>
+	<sdf version="1.6">model.sdf</sdf>
+	<description>
+	    This is a minimal brain with 2 neurons connected together.
+    </description>
+</model>

brains/somatosensory/model.config

+<?xml version='1.0'?>
+<model xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config" xsi:schemaLocation="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config ../brain_model_configuration.xsd">
+	<name>somatosensory</name>
+	<version>1.0</version>
+        <maturity>production</maturity>
+	<sdf version="1.6">model.sdf</sdf>
+	<brain>somatosensory.py</brain>
+	<author>
+		<name>Igor Peric</name>
+	</author>
+	<description>
+	    Sensory-motor brain containing 20 neurons. First 10 are proprioceptive neurons encoding 10 joints of
+Schunk robotic manipulator. Last 10 neurons are central pattern generators for grasping motion.
+    </description>
+</model>

brains/somatosensory_force/model.config

+<?xml version='1.0'?>
+<model xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config" xsi:schemaLocation="http://schemas.humanbrainproject.eu/SP10/2017/brain_model_config ../brain_model_configuration.xsd">
+	<name>somatosensory force</name>
+	<version>1.0</version>
+        <maturity>production</maturity>
+	<sdf version="1.6">model.sdf</sdf>
+	<brain>somatosensory_force.py</brain>
+	<author>
+		<name>Igor Peric</name>
+	</author>
+	<description>
+	    Sensory-motor brain containing 20 neurons. First 10 are proprioceptive neurons encoding 10 joints of
+Schunk robotic manipulator. Last 10 neurons are central pattern generators for grasping motion.
+
+    </description>
+</model>

copy-to-storage.sh

+#!/bin/bash
+# Author: Stefano Nardo
+#
+# This script copies the production models to the storage. After having run 
+# it, remember to update the DB by running the corresponding script in 
+# nrpBackendProxy (npm run update_template_models).
+
+#check if the STORAGE_PATH is set, if not we use the default ~/.opt/nrpStorage
+if [ -z ${STORAGE_PATH+x} ];
+ then echo "STORAGE_PATH is unset. Defaulting to ~/.opt/nrpStorage"
+  STORAGE_PATH=~/.opt/nrpStorage
+ else echo "STORAGE_PATH is set to '$STORAGE_PATH'"
+fi
+#check if the storage path exists
+if [ ! -d "$STORAGE_PATH" ]; then
+ mkdir -p $STORAGE_PATH || { echo ERROR; exit 1;}
+fi
+cd $STORAGE_PATH
+rm -rf TEMPLATE_MODELS
+mkdir TEMPLATE_MODELS
+cd TEMPLATE_MODELS
+cp -r $HBP/Models/brains .
+cp -Lr $HBP/Models/environments .
+cp -Lr $HBP/Models/robots .
+

p3dx/ros.launch

 <launch>
   <!-- Load the URDF into the ROS Parameter Server -->
   <param name="robot_description"
-    command="xacro '$(find p3dx_description)/urdf/pioneer3dx.xacro'" />
+    command="$(find xacro)/xacro '$(find p3dx_description)/urdf/pioneer3dx.xacro'" />
 
   <!-- ros_control p3rd launch file -->
   <include file="$(find p3dx_control)/launch/control.launch" />

tigrillo2/model.config

-<?xml version="1.0"?>
-<model>
+<?xml version='1.0'?>
+<model xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://schemas.humanbrainproject.eu/SP10/2017/robot_model_config" xsi:schemaLocation="http://schemas.humanbrainproject.eu/SP10/2017/robot_model_config ../robot_model_configuration.xsd">
   <name>Tigrillo</name>
   <version>2.0</version>
   <thumbnail>thumbnail.png</thumbnail>
@@ -11,8 +11,10 @@
   </author>
 
   <description>
-    This model is a representation of a quadruped robot hosted in the IDLab of Ghent Univeristy. This simple compliant robot is actuated by 4 servomotors in on the hips and shoulder and makes use of springs in the knees to walk fluently.
+    This model is a representation of a quadruped robot hosted in the IDLab of Ghent University.
+    This simple compliant robot is actuated by 4 servomotors in on the hips and shoulder and makes use of springs in the knees to walk fluently.
   </description>
+
   <website></website>
 
 <documentation>

tigrillo2/model.sdf

-<?xml version='1.0' encoding='ASCII'?>
+<?xml version='1.0'?>
 <sdf version="1.4">
   <model name="tigrillo">
     <static>False</static>