Skip to content

Commit

Permalink
Merge pull request #16 from bit-bots/db_joint_states
Browse files Browse the repository at this point in the history 
Add joint states/commands to schema with validation
  • Loading branch information
@jaagut
jaagut authored Oct 24, 2024
2 parents 1e5f3dd + b587c29 commit 1b7e823
Show file tree
Hide file tree
Showing 3 changed files with 89 additions and 17 deletions.
2 changes: 1 addition & 1 deletion .github/workflows/create_db.yml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ jobs:
- name: Install Poetry
run: |
curl -sSL https://install.python-poetry.org | python3 -
echo "::add-path::${HOME}/.local/bin"
echo "$HOME/.local/bin" >> $GITHUB_PATH
- name: Install dependencies
run: poetry install
Expand Down
103 changes: 88 additions & 15 deletions ddlitlab2024/dataset/schema.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ class RobotState(str, Enum):

@classmethod
def values(cls):
return [cls.POSITIONING, cls.PLAYING, cls.STOPPED, cls.UNKNOWN]
return [e.value for e in cls]


class TeamColor(str, Enum):
Expand All @@ -36,18 +36,7 @@ class TeamColor(str, Enum):

@classmethod
def values(cls):
return [
cls.BLUE,
cls.RED,
cls.YELLOW,
cls.BLACK,
cls.WHITE,
cls.GREEN,
cls.ORANGE,
cls.PURPLE,
cls.BROWN,
cls.GRAY,
]
return [e.value for e in cls]


class Recording(Base):
Expand Down Expand Up @@ -125,10 +114,52 @@ class JointState(Base):
_id: Mapped[int] = mapped_column(Integer, primary_key=True, autoincrement=True)
stamp: Mapped[float] = mapped_column(Float, nullable=False)
recording_id: Mapped[int] = mapped_column(Integer, ForeignKey("Recording._id"), nullable=False)
r_shoulder_pitch: Mapped[float] = mapped_column(Float, nullable=False, name="RShoulderPitch")
l_shoulder_pitch: Mapped[float] = mapped_column(Float, nullable=False, name="LShoulderPitch")
r_shoulder_roll: Mapped[float] = mapped_column(Float, nullable=False, name="RShoulderRoll")
l_shoulder_roll: Mapped[float] = mapped_column(Float, nullable=False, name="LShoulderRoll")
r_elbow: Mapped[float] = mapped_column(Float, nullable=False, name="RElbow")
l_elbow: Mapped[float] = mapped_column(Float, nullable=False, name="LElbow")
r_hip_yaw: Mapped[float] = mapped_column(Float, nullable=False, name="RHipYaw")
l_hip_yaw: Mapped[float] = mapped_column(Float, nullable=False, name="LHipYaw")
r_hip_roll: Mapped[float] = mapped_column(Float, nullable=False, name="RHipRoll")
l_hip_roll: Mapped[float] = mapped_column(Float, nullable=False, name="LHipRoll")
r_hip_pitch: Mapped[float] = mapped_column(Float, nullable=False, name="RHipPitch")
l_hip_pitch: Mapped[float] = mapped_column(Float, nullable=False, name="LHipPitch")
r_knee: Mapped[float] = mapped_column(Float, nullable=False, name="RKnee")
l_knee: Mapped[float] = mapped_column(Float, nullable=False, name="LKnee")
r_ankle_pitch: Mapped[float] = mapped_column(Float, nullable=False, name="RAnklePitch")
l_ankle_pitch: Mapped[float] = mapped_column(Float, nullable=False, name="LAnklePitch")
r_ankle_roll: Mapped[float] = mapped_column(Float, nullable=False, name="RAnkleRoll")
l_ankle_roll: Mapped[float] = mapped_column(Float, nullable=False, name="LAnkleRoll")
head_pan: Mapped[float] = mapped_column(Float, nullable=False, name="HeadPan")
head_tilt: Mapped[float] = mapped_column(Float, nullable=False, name="HeadTilt")

recording: Mapped["Recording"] = relationship("Recording", back_populates="joint_states")

__table_args__ = (CheckConstraint("stamp >= 0"),)
__table_args__ = (
CheckConstraint("stamp >= 0"),
CheckConstraint("RShoulderPitch >= 0 AND RShoulderPitch < 2 * pi()"),
CheckConstraint("LShoulderPitch >= 0 AND LShoulderPitch < 2 * pi()"),
CheckConstraint("RShoulderRoll >= 0 AND RShoulderRoll < 2 * pi()"),
CheckConstraint("LShoulderRoll >= 0 AND LShoulderRoll < 2 * pi()"),
CheckConstraint("RElbow >= 0 AND RElbow < 2 * pi()"),
CheckConstraint("LElbow >= 0 AND LElbow < 2 * pi()"),
CheckConstraint("RHipYaw >= 0 AND RHipYaw < 2 * pi()"),
CheckConstraint("LHipYaw >= 0 AND LHipYaw < 2 * pi()"),
CheckConstraint("RHipRoll >= 0 AND RHipRoll < 2 * pi()"),
CheckConstraint("LHipRoll >= 0 AND LHipRoll < 2 * pi()"),
CheckConstraint("RHipPitch >= 0 AND RHipPitch < 2 * pi()"),
CheckConstraint("LHipPitch >= 0 AND LHipPitch < 2 * pi()"),
CheckConstraint("RKnee >= 0 AND RKnee < 2 * pi()"),
CheckConstraint("LKnee >= 0 AND LKnee < 2 * pi()"),
CheckConstraint("RAnklePitch >= 0 AND RAnklePitch < 2 * pi()"),
CheckConstraint("LAnklePitch >= 0 AND LAnklePitch < 2 * pi()"),
CheckConstraint("RAnkleRoll >= 0 AND RAnkleRoll < 2 * pi()"),
CheckConstraint("LAnkleRoll >= 0 AND LAnkleRoll < 2 * pi()"),
CheckConstraint("HeadPan >= 0 AND HeadPan < 2 * pi()"),
CheckConstraint("HeadTilt >= 0 AND HeadTilt < 2 * pi()"),
)


class JointCommand(Base):
Expand All @@ -137,10 +168,52 @@ class JointCommand(Base):
_id: Mapped[int] = mapped_column(Integer, primary_key=True, autoincrement=True)
stamp: Mapped[float] = mapped_column(Float, nullable=False)
recording_id: Mapped[int] = mapped_column(Integer, ForeignKey("Recording._id"), nullable=False)
r_shoulder_pitch: Mapped[float] = mapped_column(Float, nullable=False, name="RShoulderPitch")
l_shoulder_pitch: Mapped[float] = mapped_column(Float, nullable=False, name="LShoulderPitch")
r_shoulder_roll: Mapped[float] = mapped_column(Float, nullable=False, name="RShoulderRoll")
l_shoulder_roll: Mapped[float] = mapped_column(Float, nullable=False, name="LShoulderRoll")
r_elbow: Mapped[float] = mapped_column(Float, nullable=False, name="RElbow")
l_elbow: Mapped[float] = mapped_column(Float, nullable=False, name="LElbow")
r_hip_yaw: Mapped[float] = mapped_column(Float, nullable=False, name="RHipYaw")
l_hip_yaw: Mapped[float] = mapped_column(Float, nullable=False, name="LHipYaw")
r_hip_roll: Mapped[float] = mapped_column(Float, nullable=False, name="RHipRoll")
l_hip_roll: Mapped[float] = mapped_column(Float, nullable=False, name="LHipRoll")
r_hip_pitch: Mapped[float] = mapped_column(Float, nullable=False, name="RHipPitch")
l_hip_pitch: Mapped[float] = mapped_column(Float, nullable=False, name="LHipPitch")
r_knee: Mapped[float] = mapped_column(Float, nullable=False, name="RKnee")
l_knee: Mapped[float] = mapped_column(Float, nullable=False, name="LKnee")
r_ankle_pitch: Mapped[float] = mapped_column(Float, nullable=False, name="RAnklePitch")
l_ankle_pitch: Mapped[float] = mapped_column(Float, nullable=False, name="LAnklePitch")
r_ankle_roll: Mapped[float] = mapped_column(Float, nullable=False, name="RAnkleRoll")
l_ankle_roll: Mapped[float] = mapped_column(Float, nullable=False, name="LAnkleRoll")
head_pan: Mapped[float] = mapped_column(Float, nullable=False, name="HeadPan")
head_tilt: Mapped[float] = mapped_column(Float, nullable=False, name="HeadTilt")

recording: Mapped["Recording"] = relationship("Recording", back_populates="joint_commands")

__table_args__ = (CheckConstraint("stamp >= 0"),)
__table_args__ = (
CheckConstraint("stamp >= 0"),
CheckConstraint("RShoulderPitch >= 0 AND RShoulderPitch < 2 * pi()"),
CheckConstraint("LShoulderPitch >= 0 AND LShoulderPitch < 2 * pi()"),
CheckConstraint("RShoulderRoll >= 0 AND RShoulderRoll < 2 * pi()"),
CheckConstraint("LShoulderRoll >= 0 AND LShoulderRoll < 2 * pi()"),
CheckConstraint("RElbow >= 0 AND RElbow < 2 * pi()"),
CheckConstraint("LElbow >= 0 AND LElbow < 2 * pi()"),
CheckConstraint("RHipYaw >= 0 AND RHipYaw < 2 * pi()"),
CheckConstraint("LHipYaw >= 0 AND LHipYaw < 2 * pi()"),
CheckConstraint("RHipRoll >= 0 AND RHipRoll < 2 * pi()"),
CheckConstraint("LHipRoll >= 0 AND LHipRoll < 2 * pi()"),
CheckConstraint("RHipPitch >= 0 AND RHipPitch < 2 * pi()"),
CheckConstraint("LHipPitch >= 0 AND LHipPitch < 2 * pi()"),
CheckConstraint("RKnee >= 0 AND RKnee < 2 * pi()"),
CheckConstraint("LKnee >= 0 AND LKnee < 2 * pi()"),
CheckConstraint("RAnklePitch >= 0 AND RAnklePitch < 2 * pi()"),
CheckConstraint("LAnklePitch >= 0 AND LAnklePitch < 2 * pi()"),
CheckConstraint("RAnkleRoll >= 0 AND RAnkleRoll < 2 * pi()"),
CheckConstraint("LAnkleRoll >= 0 AND LAnkleRoll < 2 * pi()"),
CheckConstraint("HeadPan >= 0 AND HeadPan < 2 * pi()"),
CheckConstraint("HeadTilt >= 0 AND HeadTilt < 2 * pi()"),
)


class GameState(Base):
Expand Down
1 change: 0 additions & 1 deletion pyproject.toml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,5 @@ line-length = 120
# - pyupgrade prefer newer language constructs (`UP`)
select = ["F", "E", "B", "W", "I", "N", "UP"]


[tool.poetry.scripts]
create-db = "ddlitlab2024.dataset.schema:main"

0 comments on commit 1b7e823

Please sign in to comment.