feat(models): add additional NAO elbow joint

and its corresponding migration

ddlitlab2024/dataset/migrations/versions/14ae0e795470_add_nao_elbow_joint.py

@@ -0,0 +1,63 @@
+"""Add NAO elbow joint
+
+Revision ID: 14ae0e795470
+Revises: 3f1574e89695
+Create Date: 2025-01-23 17:01:45.686722
+
+"""
+
+from collections.abc import Sequence
+from typing import Union
+
+import sqlalchemy as sa
+from alembic import op
+
+# revision identifiers, used by Alembic.
+revision: str = "14ae0e795470"
+down_revision: Union[str, None] = "3f1574e89695"
+branch_labels: Union[str, Sequence[str], None] = None
+depends_on: Union[str, Sequence[str], None] = None
+
+
+def upgrade() -> None:
+    # ### commands auto generated by Alembic - please adjust! ###
+    with op.batch_alter_table("JointCommands") as batch_op:
+        batch_op.add_column(sa.Column("RElbowYaw", sa.Float(), nullable=False))
+        batch_op.create_check_constraint(
+            op.f("ck_JointCommands_RElbowYaw_value"), "RElbowYaw >= 0 AND RElbowYaw < 2 * pi()"
+        )
+
+        batch_op.add_column(sa.Column("LElbowYaw", sa.Float(), nullable=False))
+        batch_op.create_check_constraint(
+            op.f("ck_JointCommands_LElbowYaw_value"), "LElbowYaw >= 0 AND LElbowYaw < 2 * pi()"
+        )
+
+    with op.batch_alter_table("JointStates") as batch_op:
+        batch_op.add_column(sa.Column("RElbowYaw", sa.Float(), nullable=False))
+        batch_op.create_check_constraint(
+            op.f("ck_JointStates_LElbowYaw_value"), "LElbowYaw >= 0 AND LElbowYaw < 2 * pi()"
+        )
+
+        batch_op.add_column(sa.Column("LElbowYaw", sa.Float(), nullable=False))
+        batch_op.create_check_constraint(
+            op.f("ck_JointStates_RElbowYaw_value"), "RElbowYaw >= 0 AND RElbowYaw < 2 * pi()"
+        )
+    # ### end Alembic commands ###
+
+
+def downgrade() -> None:
+    # ### commands auto generated by Alembic - please adjust! ###
+    with op.batch_alter_table("JointCommands") as batch_op:
+        batch_op.drop_constraint("ck_JointCommands_RElbowYaw_value")
+        batch_op.drop_column("RElbowYaw")
+
+        batch_op.drop_constraint("ck_JointCommands_LElbowYaw_value")
+        batch_op.drop_column("LElbowYaw")
+
+    with op.batch_alter_table("JointStates") as batch_op:
+        batch_op.drop_constraint("ck_JointStates_RElbowYaw_value")
+        batch_op.drop_column("RElbowYaw")
+
+        batch_op.drop_constraint("ck_JointStates_LElbowYaw_value")
+        batch_op.drop_column("LElbowYaw")
+    # ### end Alembic commands ###

ddlitlab2024/dataset/models.py

@@ -164,7 +164,9 @@ class JointStates(Base):
     r_shoulder_roll: Mapped[float] = mapped_column(Float, name="RShoulderRoll")
     l_shoulder_roll: Mapped[float] = mapped_column(Float, name="LShoulderRoll")
     r_elbow: Mapped[float] = mapped_column(Float, name="RElbow")
+    r_elbow_yaw: Mapped[float] = mapped_column(Float, name="RElbowYaw", default=0.0)
     l_elbow: Mapped[float] = mapped_column(Float, name="LElbow")
+    l_elbow_yaw: Mapped[float] = mapped_column(Float, name="LElbowYaw", default=0.0)
     r_hip_yaw: Mapped[float] = mapped_column(Float, name="RHipYaw")
     l_hip_yaw: Mapped[float] = mapped_column(Float, name="LHipYaw")
     r_hip_roll: Mapped[float] = mapped_column(Float, name="RHipRoll")
@@ -189,7 +191,9 @@ class JointStates(Base):
         CheckConstraint("RShoulderRoll >= 0 AND RShoulderRoll < 2 * pi()", name="RShoulderRoll_value"),
         CheckConstraint("LShoulderRoll >= 0 AND LShoulderRoll < 2 * pi()", name="LShoulderRoll_value"),
         CheckConstraint("RElbow >= 0 AND RElbow < 2 * pi()", name="RElbow_value"),
+        CheckConstraint("RElbowYaw >= 0 AND RElbowYaw < 2 * pi()", name="RElbowYaw_value"),
         CheckConstraint("LElbow >= 0 AND LElbow < 2 * pi()", name="LElbow_value"),
+        CheckConstraint("LElbowYaw >= 0 AND LElbowYaw < 2 * pi()", name="LElbowYaw_value"),
         CheckConstraint("RHipYaw >= 0 AND RHipYaw < 2 * pi()", name="RHipYaw_value"),
         CheckConstraint("LHipYaw >= 0 AND LHipYaw < 2 * pi()", name="LHipYaw_value"),
         CheckConstraint("RHipRoll >= 0 AND RHipRoll < 2 * pi()", name="RHipRoll_value"),
@@ -220,7 +224,9 @@ class JointCommands(Base):
     r_shoulder_roll: Mapped[float] = mapped_column(Float, name="RShoulderRoll")
     l_shoulder_roll: Mapped[float] = mapped_column(Float, name="LShoulderRoll")
     r_elbow: Mapped[float] = mapped_column(Float, name="RElbow")
+    r_elbow_yaw: Mapped[float] = mapped_column(Float, name="RElbowYaw", default=0.0)
     l_elbow: Mapped[float] = mapped_column(Float, name="LElbow")
+    l_elbow_yaw: Mapped[float] = mapped_column(Float, name="LElbowYaw", default=0.0)
     r_hip_yaw: Mapped[float] = mapped_column(Float, name="RHipYaw")
     l_hip_yaw: Mapped[float] = mapped_column(Float, name="LHipYaw")
     r_hip_roll: Mapped[float] = mapped_column(Float, name="RHipRoll")
@@ -245,7 +251,9 @@ class JointCommands(Base):
         CheckConstraint("RShoulderRoll >= 0 AND RShoulderRoll < 2 * pi()", name="RShoulderRoll_value"),
         CheckConstraint("LShoulderRoll >= 0 AND LShoulderRoll < 2 * pi()", name="LShoulderRoll_value"),
         CheckConstraint("RElbow >= 0 AND RElbow < 2 * pi()", name="RElbow_value"),
+        CheckConstraint("RElbowYaw >= 0 AND RElbowYaw < 2 * pi()", name="RElbowYaw_value"),
         CheckConstraint("LElbow >= 0 AND LElbow < 2 * pi()", name="LElbow_value"),
+        CheckConstraint("LElbowYaw >= 0 AND LElbowYaw < 2 * pi()", name="LElbowYaw_value"),
         CheckConstraint("RHipYaw >= 0 AND RHipYaw < 2 * pi()", name="RHipYaw_value"),
         CheckConstraint("LHipYaw >= 0 AND LHipYaw < 2 * pi()", name="LHipYaw_value"),
         CheckConstraint("RHipRoll >= 0 AND RHipRoll < 2 * pi()", name="RHipRoll_value"),