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cdp4.bibi
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cdp4.bibi
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<?xml version="1.0" encoding="UTF-8"?>
<bibi xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://schemas.humanbrainproject.eu/SP10/2014/BIBI" xsi:schemaLocation="http://schemas.humanbrainproject.eu/SP10/2014/BIBI ../bibi_configuration.xsd">
<timestep>5</timestep>
<brainModel>
<file>brain_model/idle_brain.py</file>
</brainModel>
<bodyModel>CDP4_models/cdp4_icub_model/model.sdf</bodyModel>
<transferFunction xsi:type="PythonTransferFunction">
#<![CDATA[
from sensor_msgs.msg import JointState
@nrp.MapRobotSubscriber("joints", Topic("/robot/joints", JointState))
@nrp.Neuron2Robot(Topic('/joint_states', JointState))
def joint_states_passthrough(t, joints):
return joints.value
#]]>
</transferFunction>
<!-- standard -->
<transferFunction xsi:type="PythonTransferFunction" src="image_to_saliency.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="saliency_to_saccade.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="shift_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="reset_callback.py"/>
<!-- dark room -->
<!--
<transferFunction xsi:type="PythonTransferFunction" src="dark_room_to_saliency.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="saliency_to_saccade.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="shift_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="reset_callback.py"/>
-->
<!-- curiosity -->
<!--
<transferFunction xsi:type="PythonTransferFunction" src="image_to_saliency_curiosity.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="point_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="camera_info_left_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="joint_state_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="saliency_to_saccade.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="shift_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="reset_callback.py"/>
-->
<!-- dark room curiosity -->
<!--
<transferFunction xsi:type="PythonTransferFunction" src="dark_room_to_saliency_curiosity.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="point_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="camera_info_left_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="joint_state_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="saliency_to_saccade.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="shift_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="reset_callback.py"/>
-->
<!-- curiosity tf -->
<!--
<transferFunction xsi:type="PythonTransferFunction" src="image_to_saliency_curiosity_tf.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="point_callback_tf.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="camera_info_left_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="camera_info_right_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="disparity_image_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="saliency_to_saccade.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="shift_callback.py"/>
<transferFunction xsi:type="PythonTransferFunction" src="reset_callback.py"/>
-->
</bibi>