CRAM documentation

• CRAM installation instructions

• Setup and IDE describes the main software components of the recommended development environment and how to set it up.

• Very quick crash course in Lisp

• Tutorials to acquire hands-on experience with CRAM

• Publications to learn more about the theoretical backgrounds of CRAM

• Links to broaden your background knowledge on Lisp, Robotics, AI, Planning

• Programming Guidelines: please skim through before starting to write your own CRAM packages

• Guidelines for test-driven development

• Questions on answers.ros.org
• Why Lisp?
• CRAM FAQ

• Geometric reasoning with bullet
• CRAM Plan Language (CPL) concepts

Please see the related publications list here.

• Lorenz Mösenlechner PhD Thesis with a comprehensive overview of CRAM v1 components (thesis overview can be found here)
• Tobias Christian Rittweiler Bachelor thesis on CRAM language
• Andreas Romero Frueh's Bachelor's thesis on using the CRAM bullet world for validating perception results
• Arthur Niedzwiecki's Bachelor's thesis on CRAM plan transformations
• Alina Hawkin's Bachelor's thesis and Master' thesis on using data collected by humans acting in VR for parametrizing robot actions
• Vanessa H.'s Bachelor's thesis on cutting and pouring action plans for Bullet simulation
• Thomas Lipps's Bachelor's thesis on learning location costmaps from data of humans acting in VR
• Arthur Niedzwiecki's Master's thesis on integrating tactile events into CRAM plans for real-world assembly tasks

• Autogenerated API for cram-language

This section is outdated, so some code might not run. See the Tutorials page for more up to date code.

• Software and architecture overview: who's who and what for
• cram_language
• cram_reasoning
• cram_designators
• cram_process_modules