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CRAM Tutorials
You can find the source code to most of the CRAM tutorials on GitHub.
Please pay attention at the version tag next to the tutorials. The current CRAM version on the master branch and in the installation instructions is v0.7.0. The development branch is v0.8.0, use only if you are an expert in CRAM. The tutorials that have an older version tag that are not maintained will probably not work with v0.7.0.
Fall School 2023
The Fall School 2023 will first learn about the CRAM plan executive with PyCRAM. Enter the JupyterHub here.
Then download the lecture file.
In the Jupyterhub, navigate to src/pycram/examples, upload the downloaded file and open it.
Fall School 2021
This tutorial category contains short demonstrations of some things that one can do with CRAM, which assumes no prior knowledge of Ubuntu, ROS, Emacs, Lisp or robotics. If after going through these tutorials, you find out that the system is cool and you'd like to learn more about it, you can go ahead and start with Beginner Tutorials (see below) if you have ROS experience, or roslisp tutorials (see under External tutorials section below) if you do not.
Beginner tutorials
(tested with v0.8.0)
Intermediate tutorials
(tested with v0.8.0)
- Performing Action Designators (v0.8.0)
- Location costmaps (v0.8.0)
- Adding a new rigid-body (v0.8.0) (in construction)
- Adding new designators (v0.8.0) (in construction)
Advanced tutorials
- Pepper robot shopping assistant (v0.8.0)
- Using data acquired in VR on the robot (v0.8.0) (in construction)
- Introducing a new robot to CRAM (v0.7.0)
- Using CRAM in Unreal Engine (v0.8.0)(in construction)
Outdated tutorials
- Implementing new types of actions (in construction) (v0.6.0)
- Semantic environment maps in CRAM (v0.6.0)
- Using MoveIt! from CRAM (v0.2.0)
- Writing plans with policies (v0.1.0)
External tutorials
Robocup
- Add new Giskard constraints (v0.8.0)
- CML (v0.8.0)
- CLEANUP (v0.8.0)
- SERVE BREAKFAST (v0.8.0)
- STORING GROCERIES (v0.8.0)
- Generate context (v0.8.0)