diff --git a/docs/authors.rst b/docs/authors.rst
index 50c67370ad1d2faa872d1a7d743d08f1413f32ad..c6d793f24ce0ea498823a824e279d171693310b4 100644
--- 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>
diff --git a/docs/conf.py b/docs/conf.py
index ec1ac8a0acda806dd1b5d14519e1384f9af0e179..3254de478cfb213c2ab025236456633fd456e827 100644
--- 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",
),
diff --git a/docs/data.rst b/docs/data.rst
new file mode 100644
index 0000000000000000000000000000000000000000..4a4d71482d177bc3ec423725ceaeccfa75bd51ef
--- /dev/null
+++ b/docs/data.rst
@@ -0,0 +1,3 @@
+====
+Data
+====
\ No newline at end of file
diff --git a/docs/data/dataset_v1.rst b/docs/data/dataset_v1.rst
deleted file mode 100644
index 630b0936733e2b4822dc64d10b5018f4d603afd8..0000000000000000000000000000000000000000
--- a/docs/data/dataset_v1.rst
+++ /dev/null
@@ -1,3 +0,0 @@
-.. _dataset_v1:
-
-.. include:: ../../data/dataset_v1/README.rst
\ No newline at end of file
diff --git a/docs/data/dataset_v2.rst b/docs/data/dataset_v2.rst
deleted file mode 100644
index c885ec3b29267a6711883141e2108d188cac979d..0000000000000000000000000000000000000000
--- a/docs/data/dataset_v2.rst
+++ /dev/null
@@ -1,3 +0,0 @@
-.. _dataset_v2:
-
-.. include:: ../../data/dataset_v2/README.rst
\ No newline at end of file
diff --git a/docs/data/dataset_v3.rst b/docs/data/dataset_v3.rst
deleted file mode 100644
index 2b3c9f9d78880edeb6b10979b90607e5b57d0ff6..0000000000000000000000000000000000000000
--- a/docs/data/dataset_v3.rst
+++ /dev/null
@@ -1,4 +0,0 @@
-.. _dataset_v3:
-
-.. include:: ../../data/dataset_v3/README.rst
-
diff --git a/docs/data/example_trajectory_random_joint.png b/docs/data/example_trajectory_random_joint.png
deleted file mode 100644
index 01a98d9a62ffdc1e49baf8228bffbb97576407fd..0000000000000000000000000000000000000000
Binary files a/docs/data/example_trajectory_random_joint.png and /dev/null differ
diff --git a/docs/data/index.rst b/docs/data/index.rst
deleted file mode 100644
index f7d5bfed1ad9c563e78874c539150b7090e0f4ea..0000000000000000000000000000000000000000
--- a/docs/data/index.rst
+++ /dev/null
@@ -1,13 +0,0 @@
-.. include:: ../../data/README.rst
-
-********
-Contents
-********
-
-.. toctree::
- :maxdepth: 2
-
- trajectory_generation
- dataset_v1
- dataset_v2
- dataset_v3
\ No newline at end of file
diff --git a/docs/data/trajectory_generation.rst b/docs/data/trajectory_generation.rst
deleted file mode 100644
index 1c8399ef1ab80337bb06df9cc7cd24f08bb742cc..0000000000000000000000000000000000000000
--- a/docs/data/trajectory_generation.rst
+++ /dev/null
@@ -1,124 +0,0 @@
-.. _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
diff --git a/docs/index.rst b/docs/index.rst
index 3659874c1be62eb609756f6e2fb316ba2e4cde16..068bda18fba4686775a2bc058ffd493756b30252 100644
--- 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
diff --git a/docs/neural_network/architecture.rst b/docs/neural_network/architecture.rst
deleted file mode 100644
index f917cd2235bb9a5077fdc8a0c3fe65f783a41fb4..0000000000000000000000000000000000000000
--- a/docs/neural_network/architecture.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-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
diff --git a/docs/neural_network/freq_analysis.rst b/docs/neural_network/freq_analysis.rst
deleted file mode 100644
index 83b8c30ca5836af172c1fd285873f8e8442eef0e..0000000000000000000000000000000000000000
--- a/docs/neural_network/freq_analysis.rst
+++ /dev/null
@@ -1,69 +0,0 @@
-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
-
diff --git a/docs/neural_network/hyperparameter.rst b/docs/neural_network/hyperparameter.rst
deleted file mode 100644
index 34ddf3d0cd5658aafe61f3d9ba95ce858fb274f6..0000000000000000000000000000000000000000
--- a/docs/neural_network/hyperparameter.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-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
diff --git a/docs/neural_network/index.rst b/docs/neural_network/index.rst
deleted file mode 100644
index 6e9bf5e3376863c3e7fca5a765e52b6b8b4cab53..0000000000000000000000000000000000000000
--- a/docs/neural_network/index.rst
+++ /dev/null
@@ -1,21 +0,0 @@
-==============
-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
diff --git a/docs/neural_network/results.rst b/docs/neural_network/results.rst
deleted file mode 100644
index 0ebc6f0084e4dfba13aabbb55739cc7f653ffdd0..0000000000000000000000000000000000000000
--- a/docs/neural_network/results.rst
+++ /dev/null
@@ -1,107 +0,0 @@
-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
-