update files

3dddda3e · Thomas Kaster · 8f6ae77b · 3dddda3e · 3dddda3e · 3dddda3e
Commit 3dddda3e authored 2 years ago by Thomas Kaster
--- a/docs/authors.rst
+++ b/docs/authors.rst
@@ -5,12 +5,13 @@ Credits
 Development Lead
 ----------------

-* Jan-Niklas Schneider <jan-niklas.schneider@llt.rwth-aachen.de>
+* Thomas Kaster <thomas.kaster@llt.rwth-aachen.de>

 Contributors
 ------------

+* Felipe Arango Callejas <Felipe.arango.callejas@llt.rwth-aachen.de>
 * Leon Gorißen <leon.gorissen@llt.rwth-aachen.de>
-* Thomas Kaster <thomas.kaster@llt.rwth-aachen.de>
+* Jan-Niklas Schneider <jan-niklas.schneider@llt.rwth-aachen.de>
 * Philipp Walderich <philipp.walderich@llt.rwth-aachen.de>
 * Christian Hinke <christian.hinke@llt.rwth-aachen.de>
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -48,9 +48,9 @@ source_suffix = ".rst"
 master_doc = "index"

 # General information about the project.
-project = "LSTM-based inverse dynamics learning for Franka Emika Panda"
-copyright = "2023, Jan-Niklas Schneider"
-author = "Jan-Niklas Schneider"
+project = "Identification of new kinematic systems for laser materials processing"
+copyright = "2023, Thomas Kaster"
+author = "Thomas Kaster"

 # The version info for the project you're documenting, acts as replacement
 # for |version| and |release|, also used in various other places throughout
@@ -86,7 +86,7 @@ todo_include_todos = False
 # a list of builtin themes.
 #
 html_theme = "piccolo_theme"
-html_title = "LSTM-based Inverse Dynamics Learning for Franka Emika Panda - Supplementary Information"
+html_title = "Identification of new kinematic systems for laser materials processing - Supplementary Information"
 # Theme options are theme-specific and customize the look and feel of a
 # theme further.  For a list of options available for each theme, see the
 # documentation.
@@ -102,7 +102,7 @@ html_static_path = ["_static"]
 # -- Options for HTMLHelp output ---------------------------------------

 # Output file base name for HTML help builder.
-htmlhelp_basename = "LSTM-based_inverse_dynamics_learning_for_Franka_Emika_Pandadoc"
+htmlhelp_basename = "Identification_of_new_kinematic_systems_for_laser_materials_processingdoc"


 # -- Options for LaTeX output ------------------------------------------
@@ -128,9 +128,9 @@ latex_elements = {
 latex_documents = [
    (
        master_doc,
-        "LSTM-based_inverse_dynamics_learning_for_Franka_Emika_Panda.tex",
-        "LSTM-based Inverse Dynamics Learning for Franka Emika Panda",
-        "Jan-Niklas Schneider",
+        "Identification_of_new_kinematic_systems_for_laser_materials_processing.tex",
+        "Identification of new kinematic systems for laser materials processing",
+        "Thomas Kaster",
        "manual",
    ),
 ]
@@ -143,8 +143,8 @@ latex_documents = [
 man_pages = [
    (
        master_doc,
-        "LSTM-based_inverse_dynamics_learning_for_Franka_Emika_Panda",
-        "LSTM-based Inverse Dynamics Learning for Franka Emika Panda Supplementary Information",
+        "Identification_of_new_kinematic_systems_for_laser_materials_processing",
+        "Identification of new kinematic systems for laser materials processing Supplementary Information",
        [author],
        1,
    )
@@ -159,10 +159,10 @@ man_pages = [
 texinfo_documents = [
    (
        master_doc,
-        "LSTM-based_inverse_dynamics_learning_for_Franka_Emika_Panda",
-        "LSTM-based Inverse Dynamics Learning for Franka Emika Panda Supplementary Information",
+        "Identification_of_new_kinematic_systems_for_laser_materials_processing",
+        "Identification of new kinematic systems for laser materials processing Supplementary Information",
        author,
-        "LSTM-based_inverse_dynamics_learning_for_Franka_Emika_Panda",
+        "Identification_of_new_kinematic_systems_for_laser_materials_processing",
        "One line description of project.",
        "Miscellaneous",
    ),

--- a/docs/data.rst
+++ b/docs/data.rst
+====
+Data
+====
\ No newline at end of file
--- a/docs/data/dataset_v1.rst
+++ b/docs/data/dataset_v1.rst
-.. _dataset_v1:
-
-.. include:: ../../data/dataset_v1/README.rst
\ No newline at end of file
--- a/docs/data/dataset_v2.rst
+++ b/docs/data/dataset_v2.rst
-.. _dataset_v2:
-
-.. include:: ../../data/dataset_v2/README.rst
\ No newline at end of file
--- a/docs/data/dataset_v3.rst
+++ b/docs/data/dataset_v3.rst
-.. _dataset_v3:
-
-.. include:: ../../data/dataset_v3/README.rst
-
--- a/docs/data/example_trajectory_random_joint.png
+++ b/docs/data/example_trajectory_random_joint.png
--- a/docs/data/index.rst
+++ b/docs/data/index.rst
-.. include:: ../../data/README.rst
-
-********
-Contents
-********
-
-.. toctree::
-   :maxdepth: 2
-
-   trajectory_generation
-   dataset_v1
-   dataset_v2
-   dataset_v3   
\ No newline at end of file
--- a/docs/data/trajectory_generation.rst
+++ b/docs/data/trajectory_generation.rst
-.. _trajectory_generation:
-
-#####################
-Trajectory Generation
-#####################
-
-
-*********************
-Random Pick and Place
-*********************
-
-    Used in dataset V1
-
-A random pick and place task is executed.
-A random start and random target position (cartesian) is used.
-After start, the tcp moves up 10cm, go the target position, go 
-down 10cm.
-The trajectory is calculated in cartesian and joint space.
-An example pick and place trajectory is depicted in the following 
-image.
-
-
-Pick and Place Trajectory in Task Space
-=======================================
-
-Interpolated in joint space
---------------------------
-
-.. image:: example_trajectory_pickandplace_task_1.png
-
-
-Interpolated in task space
--------------------------
-
-.. image:: example_trajectory_pickandplace_task_2.png
-
-
-Pick and Place Trajectory in Joint Space
-========================================
-
-Interpolated in joint space
---------------------------
-
-.. image:: example_trajectory_pickandplace_joint_1.png
-
-
-Interpolated in task space
--------------------------
-
-.. image:: example_trajectory_pickandplace_joint_2.png
-
-
-Video of Random Pick and Place
-==============================
-
-* First: Interpolated in cartesian space
-* Second: Interpolated in joint space
-
-.. raw:: html
-
-    <embed>
-        <iframe width="560" height="315" src="https://www.youtube.com/embed/_fE7tPmV8Tk" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>
-    </embed>
-
-
-
-**************************
-Random joint configuration 
-**************************
-
-    Used in dataset V2, V3
-
-A random joint configuration is sampled.
-The trajectory to this target is calculated started
-from the actual joint position. 
-This results in a trajectory as examplary depicted in the 
-following picture.
-
-
-Random Joint Trajectory in Task Space
-=====================================
-
-.. image:: example_trajectory_random_joint_task.png
-
-
-Random Joint Trajectory in Joint Space
-======================================
-
-.. image:: example_trajectory_random_joint.png
-
-
-Video of Random Joint Trajectory Generation
-===========================================
-
-.. raw:: html
-
-    <embed>
-        <iframe width="560" height="315" src="https://www.youtube.com/embed/ZAGxRc4KSUI" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>
-    </embed>
-
-
-***********************
-ISO9283 test trajectory
-***********************
-
-    Used in dataset V3 (test)
-
-For evaluation, the optional test path for 400 x 400 mm plane 
-in A.5 (ISO 9283- Leistungskenngrößen und zugehörige Prüfmethoden,
-9283:1998, International Organization for Standardization, 1998.) is used.
-A velocity factor of 0.25, an acceleration factor of 0.1 is chosen.
-Start position is [-0.18, 0.6, 0.2, -np.pi, 0, 0].
-
-
-ISO9283 Trajectory in Task Space
-================================
-
-.. image:: example_trajectory_iso9283_task.png
-
-
-ISO9283 Trajectory in Joint Space
-=================================
-
-.. image:: example_trajectory_iso9283.png
\ No newline at end of file
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -5,8 +5,7 @@ Contents
 .. toctree::
   :maxdepth: 2

-   data/index
-   neural_network/index
+   data
   authors

 Indices and tables

--- a/docs/neural_network/architecture.rst
+++ b/docs/neural_network/architecture.rst
-Network Architecture
-====================
-
-The image below shows the neural network (stellar-sweep-529) resulting from hyperparameter search used for torque estimation. 
-
-.. image:: ../../src/Inverse_Dynamics/test_results/model_plot.png
\ No newline at end of file
--- a/docs/neural_network/freq_analysis.rst
+++ b/docs/neural_network/freq_analysis.rst
-Frequency Analysis
-==================
-
-
-test_result_fft_ISO_20230215_115048
-----------------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_fft_ISO_20230215_115048.png
-
-
-test_result_fft_20230215_114631
-------------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_fft_20230215_114631.png
-
-test_result_fft_20230215_114651
-------------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_fft_20230215_114651.png
-
-
-test_result_fft_20230215_114701
-------------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_fft_20230215_114701.png
-
-
-test_result_fft_20230215_114712
-------------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_fft_20230215_114701.png
-
-
-test_result_fft_20230215_114716
-------------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_fft_20230215_114716.png
-
-
-test_result_fft_20230215_114729
-------------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_fft_20230215_114729.png
-
-
-test_result_fft_20230215_114751
-------------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_fft_20230215_114751.png
-
-
-test_result_fft_20230215_114802
-------------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_fft_20230215_114802.png
-
-
-test_result_fft_20230215_114808
-------------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_fft_20230215_114808.png
-
-
-
-test_result_fft_20230215_114813
-------------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_fft_20230215_114813.png
-
--- a/docs/neural_network/hyperparameter.rst
+++ b/docs/neural_network/hyperparameter.rst
-Hyperparameter Search
-=====================
-
-A report on the hyperparameter search conducted with weights&biases is available `here <https://api.wandb.ai/links/llt_dpp/35bafije>`_.
-
-.. raw:: html
-
-    <embed>
-        <iframe src="https://wandb.ai/llt_dpp/Panda_Inverse_Dynamics/reports/Hyperparameter-search-for-LSTM-based-Inverse-Dynamics-Learning-for-Franka-Emika-Panda--VmlldzozNjM1MzMx" style="border:none;height:1024px;width:100%">
-    </embed>
\ No newline at end of file
--- a/docs/neural_network/index.rst
+++ b/docs/neural_network/index.rst
-==============
-Neural Network
-==============
-
-The training of the neural network is based on dataset V3. 
-An optimized network architecture is derived by hyperparameter search.
-The hyperparameter search is based on Weights & Biases.
-The neural network predictions are conducted with a test dataset and 
-are analyzed in frequency domain.
-
-********
-Contents
-********
-
-.. toctree::
-   :maxdepth: 1
-
-   architecture
-   hyperparameter
-   results
-   freq_analysis
\ No newline at end of file
--- a/docs/neural_network/results.rst
+++ b/docs/neural_network/results.rst
-Neural Network Results
-======================
-
-
-test_result_ISO_20230215_115048
-------------------------------
-
-   The figure is presented in the original paper. 
-
-.. csv-table:: Root Mean Square Error [Nm]
-   :file: ../../src/Inverse_Dynamics/test_results/test_result_ISO_20230215_115048.csv
-   :header-rows: 1
-
-
-test_result_20230215_114631
---------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114631.png
-
-.. csv-table:: Root Mean Square Error [Nm]
-   :file: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114631.csv
-   :header-rows: 1
-
-test_result_20230215_114651
---------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114651.png
-
-.. csv-table:: Root Mean Square Error [Nm]
-   :file: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114651.csv
-   :header-rows: 1
-
-test_result_20230215_114701
---------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114701.png
-
-.. csv-table:: Root Mean Square Error [Nm]
-   :file: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114701.csv
-   :header-rows: 1
-
-test_result_20230215_114712
---------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114712.png
-
-.. csv-table:: Root Mean Square Error [Nm]
-   :file: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114712.csv
-   :header-rows: 1
-
-test_result_20230215_114716
---------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114716.png
-
-.. csv-table:: Root Mean Square Error [Nm]
-   :file: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114716.csv
-   :header-rows: 1
-
-test_result_20230215_114729
---------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114729.png
-
-.. csv-table:: Root Mean Square Error [Nm]
-   :file: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114729.csv
-   :header-rows: 1
-
-
-test_result_20230215_114751
---------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114751.png
-
-.. csv-table:: Root Mean Square Error [Nm]
-   :file: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114751.csv
-   :header-rows: 1
-
-test_result_20230215_114802
---------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114802.png
-
-.. csv-table:: Root Mean Square Error [Nm]
-   :file: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114802.csv
-   :header-rows: 1
-
-
-test_result_20230215_114808
---------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114808.png
-
-.. csv-table:: Root Mean Square Error [Nm]
-   :file: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114808.csv
-   :header-rows: 1
-
-
-test_result_20230215_114813
---------------------------
-
-.. figure:: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114813.png
-
-.. csv-table:: Root Mean Square Error [Nm]
-   :file: ../../src/Inverse_Dynamics/test_results/test_result_20230215_114813.csv
-   :header-rows: 1
-