diff --git a/README.rst b/README.rst index e09017c03254f01f9c7c3125dc782e70b289b580..5997c9ea379a6e6655b0d295a28a53c98d4ce13a 100644 --- a/README.rst +++ b/README.rst @@ -28,12 +28,12 @@ This project extends the previous work presented by `Schneider et al. 2024 <http .. image:: ../diagram/diagram.png -Three instances of Franka Emika Robots are present within the RWTH Aachen University Cluster of Excellence Internet of Production. +Three instances of Franka Emika Robots are present within the RWTH Aachen University Cluster of Excellence Internet of Production.\ To generate meaningful knowledge from data gather on these three instances--situtated at the Chair for Laser Technology (LLT), Chair for Machine Tools (WZL MT) and the Institute for Textile Technology (ITA)--automated data storage and management is required. Thus, automated data generation procedures have been implemented and are conducted on each robot instances. Data is automatically tagged with meta data on pushed to NRW RDS by means of RWTH Aachen University `meta data platform coscine <https://coscine.rwth-aachen.de/p/iop-ws-a.iii-fer-wwl-demo-80937714/>`_. This platform both provides the generated data (Trajectory Data resource) as well as imporant metadata such as the source code used for data generation and the universal unique identfier of the robot instance. -This data is used to train an inverse dynamics model of the robotic systems. Agents registered to a weight and biases sweep server continously get send new model hyperparameter sets from the sweep server, pull up to date data from NRW RDS and push well performing models back to NRW RDS (Inverse Dynamics Models resource) -Train models may be used at the participating institutions fully embracing the Data-to-knowledge pipeline demonstrated within the World Wide Lab. +This data is used to train an inverse dynamics model of the robotic systems. Agents registered to a weight and biases sweep server continously get send new model hyperparameter sets from the sweep server, pull up to date data from NRW RDS and push well performing models back to NRW RDS (Inverse Dynamics Models resource). +Trained models are part of the AI-Toolbox of Workstream A.III and may be used at the participating institutions fully embracing the Data-to-knowledge pipeline demonstrated within the World Wide Lab. .. TODO Update this according to acutal deep learning implementation diff --git a/franka_lock_unlock/README.rst b/franka_lock_unlock/README.rst index 4b95a8ea8207316b6cd88cb8e904ec62fb06849f..0f7412d21f7993e2df6d79fdc10cdf75feaf2510 100644 --- a/franka_lock_unlock/README.rst +++ b/franka_lock_unlock/README.rst @@ -7,11 +7,13 @@ Franka Lock Unlock This package is forked from: https://github.com/jk-ethz/franka_lock_unlock .. Attention:: - You will need to change the password to your password. + You will need to change the password, username and IP. .. code-block:: bash export FRANKA_PASSWORD="your_password_here" + export FRANKA_IP="your_IP_here" + export FRANKA_USERNAME="your_username_here" ****************** Automated Behavior diff --git a/franka_lock_unlock/entrypoint.sh b/franka_lock_unlock/entrypoint.sh index 24936e4f5de04a56b3f542647b94544bd07e71d6..26557d6aa3baa8f9b05d3b55d0fb9e34c95c062b 100755 --- a/franka_lock_unlock/entrypoint.sh +++ b/franka_lock_unlock/entrypoint.sh @@ -2,4 +2,4 @@ # Source your completion script source /app/franka_lock_unlock/frankalockunlock-completion.bash # Execute the Python script, replacing the current shell process with Python -exec frankalockunlock "$FRANKA_PASSWORD" --wait --request --persistent --unlock --lock --fci +exec frankalockunlock "$FRANKA_PASSWORD" --hostname "$FRANKA_IP" --username "$FRANKA_USERNAME" --wait --request --persistent --unlock --lock --fci