From 5d0a52589b9e7b84e5ef90c0381194c6a298e52f Mon Sep 17 00:00:00 2001
From: swittl <simon.wittl@th-deg.de>
Date: Thu, 20 Mar 2025 16:45:54 +0100
Subject: [PATCH] added joint states
---
examples/joint.h5 | Bin 0 -> 16432 bytes
examples/thd_joint_joint.h5 | Bin 0 -> 185336 bytes
pyproject.toml | 2 +-
src/h5schemas/joint/__init__.py | 0
src/h5schemas/joint/add_joint.py | 28 ++++++++
src/h5schemas/thd_joint_states/__init__.py | 0
.../thd_joint_states/add_thd_joint_states.py | 65 ++++++++++++++++++
uv.lock | 8 +--
8 files changed, 98 insertions(+), 5 deletions(-)
create mode 100644 examples/joint.h5
create mode 100644 examples/thd_joint_joint.h5
create mode 100644 src/h5schemas/joint/__init__.py
create mode 100644 src/h5schemas/joint/add_joint.py
create mode 100644 src/h5schemas/thd_joint_states/__init__.py
create mode 100644 src/h5schemas/thd_joint_states/add_thd_joint_states.py
diff --git a/examples/joint.h5 b/examples/joint.h5
new file mode 100644
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diff --git a/examples/thd_joint_joint.h5 b/examples/thd_joint_joint.h5
new file mode 100644
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diff --git a/pyproject.toml b/pyproject.toml
index f8ace50..6617135 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
[project]
name = "h5schemas"
-version = "0.1.0"
+version = "0.1.12"
description = "Add your description here"
readme = "README.md"
authors = [
diff --git a/src/h5schemas/joint/__init__.py b/src/h5schemas/joint/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/h5schemas/joint/add_joint.py b/src/h5schemas/joint/add_joint.py
new file mode 100644
index 0000000..add8137
--- /dev/null
+++ b/src/h5schemas/joint/add_joint.py
@@ -0,0 +1,28 @@
+from h5py import File, Group
+from thd_json import joint
+from h5schemas.scan_schema import open_schema
+from h5schemas.initialize_dataset import initialize_dataset
+
+
+def init_joint(h5_file: File | Group):
+ schema_groups = get_source_schemas()
+ initialize_dataset(h5_file, schema_groups)
+
+
+def get_source_schemas():
+ return open_schema(joint, "joint.json")
+
+
+def add_joint_sample(h5_file: File | Group, joint_value_rad):
+ dst = h5_file["q"]
+ dst.resize((dst.shape[0] + 1,))
+ dst[-1,] = joint_value_rad
+
+
+if __name__ == "__main__":
+ test_file = File("./examples/joint.h5", "w")
+ init_joint(test_file)
+
+ add_joint_sample(test_file, 1.0)
+ add_joint_sample(test_file, 2.0)
+ add_joint_sample(test_file, 3.0)
diff --git a/src/h5schemas/thd_joint_states/__init__.py b/src/h5schemas/thd_joint_states/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/h5schemas/thd_joint_states/add_thd_joint_states.py b/src/h5schemas/thd_joint_states/add_thd_joint_states.py
new file mode 100644
index 0000000..682ce8c
--- /dev/null
+++ b/src/h5schemas/thd_joint_states/add_thd_joint_states.py
@@ -0,0 +1,65 @@
+from h5py import File, Group
+from thd_json import thd_joint_states
+from h5schemas.scan_schema import open_schema
+from h5schemas.initialize_dataset import initialize_dataset
+from h5schemas.joint.add_joint import add_joint_sample
+
+
+def init_thd_joint_states(h5_file: File | Group):
+ schema_groups = get_source_schemas()
+ initialize_dataset(h5_file, schema_groups)
+
+
+def get_source_schemas():
+ return open_schema(thd_joint_states, "thd_joint_states.json")
+
+
+def add_thd_joint_states_sample(
+ h5_file: File | Group,
+ master_joint_e1: float | None = None,
+ master_joint_a1: float | None = None,
+ master_joint_a2: float | None = None,
+ master_joint_a3: float | None = None,
+ master_joint_a4: float | None = None,
+ master_joint_a5: float | None = None,
+ master_joint_a6: float | None = None,
+ slave_joint_e1: float | None = None,
+ slave_joint_a1: float | None = None,
+ slave_joint_a2: float | None = None,
+ slave_joint_a3: float | None = None,
+ slave_joint_a4: float | None = None,
+ slave_joint_a5: float | None = None,
+ slave_joint_a6: float | None = None,
+ table_joint_a1: float | None = None):
+
+
+ add_joint_sample(h5_file["/master_joint_e1"], master_joint_e1)
+
+ add_joint_sample(h5_file["/master_joint_a1"], master_joint_a1)
+ add_joint_sample(h5_file["/master_joint_a2"], master_joint_a2)
+ add_joint_sample(h5_file["/master_joint_a3"], master_joint_a3)
+ add_joint_sample(h5_file["/master_joint_a4"], master_joint_a4)
+ add_joint_sample(h5_file["/master_joint_a5"], master_joint_a5)
+ add_joint_sample(h5_file["/master_joint_a6"], master_joint_a6)
+
+ add_joint_sample(h5_file["/slave_joint_e1"], slave_joint_e1)
+
+ add_joint_sample(h5_file["/slave_joint_a1"], slave_joint_a1)
+ add_joint_sample(h5_file["/slave_joint_a2"], slave_joint_a2)
+ add_joint_sample(h5_file["/slave_joint_a3"], slave_joint_a3)
+ add_joint_sample(h5_file["/slave_joint_a4"], slave_joint_a4)
+ add_joint_sample(h5_file["/slave_joint_a5"], slave_joint_a5)
+ add_joint_sample(h5_file["/slave_joint_a6"], slave_joint_a6)
+
+ add_joint_sample(h5_file["/table_joint_a1"], table_joint_a1)
+
+if __name__ == "__main__":
+ import numpy as np
+
+
+ test_file = File("./examples/thd_joint_joint.h5", "w")
+ init_thd_joint_states(test_file)
+
+ add_thd_joint_states_sample(test_file, *np.arange(15))
+ add_thd_joint_states_sample(test_file, *np.arange(15, 30))
+
diff --git a/uv.lock b/uv.lock
index d5b322e..dcf914a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -52,7 +52,7 @@ wheels = [
[[package]]
name = "h5schemas"
-version = "0.1.0"
+version = "0.1.12"
source = { editable = "." }
dependencies = [
{ name = "h5py" },
@@ -64,7 +64,7 @@ dependencies = [
requires-dist = [
{ name = "h5py", specifier = ">=3.13.0" },
{ name = "jsonref", specifier = ">=1.1.0" },
- { name = "thd-json", git = "https://mygit.th-deg.de/roboct/definitions/json_schemas" },
+ { name = "thd-json", git = "https://mygit.th-deg.de/roboct-public/roboct-schemas" },
]
[[package]]
@@ -418,8 +418,8 @@ wheels = [
[[package]]
name = "thd-json"
-version = "0.1.11"
-source = { git = "https://mygit.th-deg.de/roboct/definitions/json_schemas#549627970741441756a671333ac8e5f949241eb3" }
+version = "0.1.12"
+source = { git = "https://mygit.th-deg.de/roboct-public/roboct-schemas#f9f601e871cd8a514e4df9884a17777bc2474c21" }
dependencies = [
{ name = "hatchling" },
{ name = "hypothesis" },
--
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