From 3dddda3e54d7530a915493efcdab661486fc5a77 Mon Sep 17 00:00:00 2001 From: thomas kaster <thomas.kaster@llt.rwth-aachen.de> Date: Wed, 3 May 2023 11:36:08 +0200 Subject: [PATCH] update files --- docs/authors.rst | 5 +- docs/conf.py | 26 ++-- docs/data.rst | 3 + docs/data/dataset_v1.rst | 3 - docs/data/dataset_v2.rst | 3 - docs/data/dataset_v3.rst | 4 - docs/data/example_trajectory_random_joint.png | Bin 117213 -> 0 bytes docs/data/index.rst | 13 -- docs/data/trajectory_generation.rst | 124 ------------------ docs/index.rst | 3 +- docs/neural_network/architecture.rst | 6 - docs/neural_network/freq_analysis.rst | 69 ---------- docs/neural_network/hyperparameter.rst | 10 -- docs/neural_network/index.rst | 21 --- docs/neural_network/results.rst | 107 --------------- 15 files changed, 20 insertions(+), 377 deletions(-) create mode 100644 docs/data.rst delete mode 100644 docs/data/dataset_v1.rst delete mode 100644 docs/data/dataset_v2.rst delete mode 100644 docs/data/dataset_v3.rst delete mode 100644 docs/data/example_trajectory_random_joint.png delete mode 100644 docs/data/index.rst delete mode 100644 docs/data/trajectory_generation.rst delete mode 100644 docs/neural_network/architecture.rst delete mode 100644 docs/neural_network/freq_analysis.rst delete mode 100644 docs/neural_network/hyperparameter.rst delete mode 100644 docs/neural_network/index.rst delete mode 100644 docs/neural_network/results.rst diff --git a/docs/authors.rst b/docs/authors.rst index 50c6737..c6d793f 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 ec1ac8a..3254de4 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 0000000..4a4d714 --- /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 630b093..0000000 --- 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 c885ec3..0000000 --- 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 2b3c9f9..0000000 --- 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 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: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 1c8399e..0000000 --- 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 3659874..068bda1 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 f917cd2..0000000 --- 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 83b8c30..0000000 --- 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 34ddf3d..0000000 --- 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 6e9bf5e..0000000 --- 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 0ebc6f0..0000000 --- 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 - -- GitLab