examples.rst

Examples

All types of examples

Intro Example

.. nbgallery::
    notebooks/intro

Designator

.. nbgallery::
    notebooks/location_designator
    notebooks/object_designator
    notebooks/action_designator
    notebooks/motion_designator

Misc

.. nbgallery::
    notebooks/bullet_world
    notebooks/minimal_task_tree
    notebooks/pose
    notebooks/improving_actions
    notebooks/language
    notebooks/local_transformer

Interface Examples

.. nbgallery::
    notebooks/interface_examples/giskard
    notebooks/interface_examples/robokudo

Object Relational Mapping

This section discusses the mapping to databases of pycram objects. Learning from data is usually done by providing a collection propositional data points and fitting a model for the proposition. However with the highly complex plans and structures of pycram a more sophisticated logging method is needed. Hence pycram implements an object relational mapper (ORM) using sqlalchemy.

The implementation of the ORM classes can be found in :meth:`pycram.orm`. This package contains all propositions and their relations that can be logged from pycram. Other classes should then implement a to_sql() and an insert(session, ...) with potential extra arguments. The to_sql() method creates a proposition without relations from the ORM package. The insert(session, ...) method should add the object from the orm method to the session and commit it, such that the relations are reflected in the database and fields of the object. An example implementation of these methods can be seen in :meth:`pycram.task.TaskTreeNode.to_sql` and :meth:`pycram.task.TaskTreeNode.insert`.

When using the ORM to record the experiments a MetaData instance is created. For a clean data management it is important to fill out the description. For this, check the documentation of :meth:`pycram.orm.base.ProcessMetaData`.

Examples

.. nbgallery::

    notebooks/orm_example
    notebooks/migrate_neems
    notebooks/orm_querying_examples