Chore: Update diagram and docs

README.rst

@@ -11,6 +11,25 @@ Acknowledgement
 
 .. image:: docs/resources/IoP_Logo.png
 
+Concept
+-------
+
+This project aims to explore the following aspects:
+
+* Data-to-knowledge pipelines within the World Wide Lab
+* Automated research data storage and management, especially meta data
+* Continous multi-instance dynamics learning for Franka Emika Robot
+
+.. image:: diagrams/diagram.png
+
+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.
+
+.. TODO Update this according to acutal deep learning implementation
 
 Setup
 -----

coscine_watchdog/coscine_client.py

@@ -13,6 +13,7 @@ import signal
 import sys
 
 # TODO create new coscine resource with new application profile once available
+# TODO add git commit to data
 
 app = Flask(__name__)  # Create a new Flask application
 

diagram/diagram.py

@@ -9,79 +9,85 @@ from diagrams.programming.language import Python, Cpp
 from diagrams.generic.storage import Storage
 from diagrams.onprem.vcs import Gitlab
 from diagrams.saas.chat import RocketChat
+from diagrams.programming.framework import Flask
 
-with Diagram("Franka Emika Robot World Wide Lab Demonstrator", show=False):
+white = "white"
+black = "#5b5a5c"
+custom_color = "#ddcaed"
 
-        # Edge styles: dashed, dotted, solid, invis, bold, tapered
-        # dashed: publish subscribe
-        # dotted: RDM
-        # solid: request response
-        # bold: 
-        # tapered: RDS interaction
+with Diagram("Multi-instance Franka Emika Robot dynamics learning for digital shadows in the World Wide Lab", filename="diagram", show=False, direction="TB"):
 
     coscine = Custom("Metadata Platform", "./images/coscine.png")
-    watched = []
-    rocket = RocketChat("IoP Chat")
-    watched.append(rocket)
-
-    with Cluster("FER @ LLT"):
-        ferLLT = Custom("Robot", "./images/FER.png")
 
-    with Cluster("FER @ WZL MT"):
-        ferWZL = Custom("Robot", "./images/FER.png")
+    gitlab = Gitlab("IoP Team")
+    vcs = []
 
-    with Cluster("FER @ ITA"):
-        ferITA = Custom("Robot", "./images/FER.png")
+    watched = []
+    #rocket = RocketChat("IoP Chat")
+    #watched.append(rocket)
+    watched.append(gitlab)
+
+    FERs = []
+
+    with Cluster("FER @ LLT") as c:
+        c.dot.graph_attr["fontcolor"] = white
+        c.dot.graph_attr["bgcolor"] = black
+        ferLLT = Custom("Robot", "./images/FER.png", fontcolor=white)
+        FERs.append(ferLLT)
+
+    with Cluster("FER @ WZL MT") as c:
+        c.dot.graph_attr["fontcolor"] = white
+        c.dot.graph_attr["bgcolor"] = black
+        ferWZL = Custom("Robot", "./images/FER.png", fontcolor=white)
+        FERs.append(ferWZL)
+
+    with Cluster("FER @ ITA") as c:
+        c.dot.graph_attr["bgcolor"] = black
+        c.dot.graph_attr["fontcolor"] = white
+        ferITA = Custom("Robot", "./images/FER.png", fontcolor=white)
+        FERs.append(ferITA)
+
+    with Cluster("RWTH RDS") as c:
+        c.dot.graph_attr["bgcolor"] = custom_color
+        storageTrajectory = Storage("Trajectory Data")
+        storageModels = Storage("Models")
+        #storageDocuments = Storage("Documents")
+        [watched.append(i) for i in [storageModels, storageTrajectory]]#, storageDocuments]]
     
-    with Cluster("Edge Node"):
+    for fer in FERs:
+        with Cluster(
+            f"Edge Node @ {str(fer._cluster.label).split('@ ')[1]}"):
             with Cluster("Docker Frankalockunlock"):
-            gitlab3 = Gitlab("IoP Team")
                 franka = Python("CLI for Franka Control")
-            watched.append(gitlab3)
+                vcs.append(franka)
             with Cluster("Docker ROS"):
-            gitlab1 = Gitlab("IoP Team")
-            with Cluster("franka_autodynamics"):
-                taskController = Python("Task Controller")
-                motionGeneration = Python("Motion Generation")
-                motionExecution = Cpp("Motion Execution")
-                dataHandling = Python("Data Handling")
-                watched.append(gitlab1)
-
-        franka >> Edge(color="", style="solid") >> taskController # label="Initialize Data Generation",
-        franka << Edge(color="", style="solid") << taskController # label="Data Generation Concluded (SIGTERM)",
-        taskController >> Edge(style="solid") >> motionGeneration # label="Plan Motion",
-        taskController << Edge(style="solid") << motionGeneration # label="Motion Concluded",
-        motionGeneration >> Edge(style="solid") >> [motionExecution, dataHandling] # label="Execute Motion",
-        motionExecution - Edge(style="dashed") - [ferLLT, ferWZL, ferITA] # libfranka interaction
-        [ferLLT, ferWZL, ferITA] - Edge(style="dashed") - dataHandling # libfranka interaction
-        [motionExecution, dataHandling] >> Edge(style="solid") >> motionGeneration # label="Execution Concluded",
+                panda_autodynamics = Custom("Panda\nAutodynamics\nPackage", "./images/ros+python.png")
+                vcs.append(panda_autodynamics)
 
-        with Cluster("Docker Coscine"):
-            gitlab4 = Gitlab("IoP Team")
-            coscine_client = Python("Coscine Client")
-            watched.append(gitlab4)
+            franka >> Edge(color="", style="tapered") >> panda_autodynamics
+            panda_autodynamics - Edge(style="dashed") - fer # libfranka interaction
+            fer - Edge(style="dashed") - panda_autodynamics
 
-        dataHandling >> Edge(style="solid") >> coscine_client # label="Send Data",
-        dataHandling << Edge(style="solid") << coscine_client # label="Sending Concluded", 
+            with Cluster("Docker Coscine"):
+                coscine_client = Flask("Coscine Client")
+                vcs.append(coscine_client)
 
-    with Cluster("RWTH RDS"):
-        storageTrajectory = Storage("Trajectory Data")
-        storageModels = Storage("Models")
-        storageDocuments = Storage("Documents")
-        [watched.append(i) for i in [storageDocuments, storageModels, storageTrajectory]]
+            panda_autodynamics >> Edge(style="solid") >> coscine_client # label="Send Data",
+            panda_autodynamics << Edge(style="solid") << coscine_client # label="Sending Concluded", 
 
-    coscine_client >> Edge(style="tapered") >> storageTrajectory # label="Upload Data",
+        coscine_client >> Edge(style="solid") >> storageTrajectory # label="Upload Data",
 
-    with Cluster("RWTH HPC / LLT Compute / KBSG Compute"):
+    with Cluster("RWTH HPC / LLT Compute / KBSG Compute") as c:
+        c.dot.graph_attr["bgcolor"] = custom_color
         with Cluster("Docker"):
-            gitlab2 = Gitlab("IoP Team")
             framework = Custom("TF worker agent","./images/tf.png")
-            watched.append(gitlab2)
+            vcs.append(framework)
 
     storageTrajectory >> Edge(style="tapered") >> framework # label="Download Data",
     framework >> Edge(style="tapered") >> [storageTrajectory, storageModels] # label="Upload Data",
 
-
+    with Cluster("Weights and Biases Servers") as c:
+        c.dot.graph_attr["bgcolor"] = custom_color
         wandb = Custom("Sweep server", "./images/wandb.png")
         watched.append(wandb)
     
@@ -91,3 +97,6 @@ with Diagram("Franka Emika Robot World Wide Lab Demonstrator", show=False):
     for element in watched:
         coscine - Edge(style="dotted") - element #label="RDM",
 
+    for element in vcs:
+        gitlab - Edge(style="dotted") - element
+

franka_lock_unlock/requirements.txt

 requests
-rich
+rich==13.6
 black
 flake8
 isort

franka_lock_unlock/setup.py

@@ -6,7 +6,7 @@ setup(
     author='Leon Gorissen', 
     author_email='leon.gorissen@llt.rwth-aachen.de',  
     description='A tool to lock/unlock the Franka Emika Panda robot',  
-    long_description=open('README.md').read(),  
+    long_description=open('README.rst').read(),  
     long_description_content_type='text/markdown',  
     url='https://git-ce.rwth-aachen.de/llt_dpp/all/franka_wwl_demonstrator',  
     packages=find_packages(),