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doc [2019/06/17 10:39] – [Geometric Reasoning] gkazhoya | doc [2022/02/16 10:07] – [Theses] gkazhoya |
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* [[doc/getting_started|Getting started]] | * [[doc/getting_started|Getting started]] |
| * [[doc/guidelines|CRAM Programming Guidelines]] |
| * [[doc/testing|Utilities for testing CRAM packages]] |
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===== Frequently Asked Questions ===== | ===== Frequently Asked Questions ===== |
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* [[doc/faq| CRAM FAQ]] | <html><!-- * [[doc/faq| CRAM FAQ]] --></html> |
* [[http://answers.ros.org/questions|Questions on answers.ros.org]] | * [[https://answers.ros.org/questions/scope:all/sort:activity-desc/page:1/query:cram/|Questions on answers.ros.org]] |
* [[http://cram-system.org/doc/package/why_lisp|Why Lisp?]] | * [[http://cram-system.org/doc/package/why_lisp|Why Lisp?]] |
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| ===== Functionality Documentation ===== |
| * [[doc/reasoning/overview|Geometric reasoning with bullet]] |
| * [[doc/cpl|CRAM Plan Language (CPL) concepts]] |
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| ===== Theses ===== |
| * [[https://mediatum.ub.tum.de/doc/1239461/1239461.pdf|Lorenz Mösenlechner PhD Thesis]] with a comprehensive overview of CRAM v1 components (thesis overview can be found [[lorenz-thesis-overview|here]]) |
| * {{::tcr_bachelor_thesis.pdf |Tobias Christian Rittweiler Bachelor thesis}} on CRAM language |
| * {{ ::gayane_kazhoyan_msc.pdf | Gayane Kazhoyan's Master's thesis}} on spatial relations for location costmaps |
| * {{ ::andreas_romero_frueh_bsc.pdf | Andreas Romero Frueh's Bachelor's thesis}} on using the CRAM bullet world for validating perception results |
| * {{ ::arthur_niedzwiecki_bsc.pdf | Arthur Niedzwiecki's Bachelor's thesis}} on CRAM plan transformations |
| * {{ ::alina_hawkin_bsc.pdf | Alina Hawkin's Bachelor's thesis}} and {{ ::alina_hawkin_msc.pdf |Master' thesis}} on using data collected by humans acting in VR for parametrizing robot actions |
| * {{ ::vanessa_hassouna_bsc.pdf | Vanessa H.'s Bachelor's thesis}} on cutting and pouring action plans for Bullet simulation |
| * {{ ::thomas_lipps_bsc.pdf | Thomas Lipps's Bachelor's thesis}} on learning location costmaps from data of humans acting in VR |
| * {{ ::arthur_niedzwiecki_msc.pdf | Arthur Niedzwiecki's Master's thesis}} on integrating tactile events into CRAM plans for real-world assembly tasks |
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| ===== API ===== |
| * [[doc/api/cram-language|Autogenerated API for cram-language]] |
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===== ROS Package Documentation ===== | ===== ROS Package Documentation ===== |
| **This section is outdated, so some code might not run. See the Tutorials page for more up to date code.** |
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* [[doc/package/overview|Software and architecture overview: who's who and what for]] | * [[doc/package/overview|Software and architecture overview: who's who and what for]] |
* [[doc/package/cram_language|cram_language]] | * [[doc/package/cram_language|cram_language]] |
* [[doc/package/cram_process_modules|cram_process_modules]] | * [[doc/package/cram_process_modules|cram_process_modules]] |
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===== API ===== | ===== PyCRAM ===== |
* [[doc/api|Autogenerated API for all packages]] | This section contains the documentation for the Python implementation of CRAM called PyCRAM. |
* [[doc/guidelines|CRAM Programming Guidelines]] | * [[doc/pycram/bulletWorld|Bullet World]] |
* [[doc/testing|Utilities for testing CRAM packages]] | * [[doc/pycram/reasoning|Bullet World Reasoning]] |
| * [[doc/pycram/designator|Designator]] |
| * [[doc/pycram/implemented_desigs|Implemented Desigantor]] |
| * [[doc/pycram/process_modules|Process Modules]] |
| * [[doc/pycram/ik|Inverse Kinematics]] |
| * [[doc/pycram/language|PyCRAM Plan Language]] |
| * [[doc/pycram/fluents|Fluents]] |
| * [[doc/pycram/robot_description|Robot Description]] |
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| * {{ ::augstens_bsc.pdf | Augsten brother's Bachelor's thesis}} on PyCRAM language |
| * {{ ::jonas_dech_bsc.pdf | Jonas Dech's Bachelor's thesis}} on PyCRAM Bullet World |
| * {{ ::chrsitopher_pollok_msc.pdf | Christopher Pollok's Master's thesis}} on task trees and action designators in PyCRAM |
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| <html><!-- |
| This stuff is super outdated.... |
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===== Logging infrastructure ===== | ===== Logging infrastructure ===== |
* [[doc:logging:tutorials-cpp|Beliefstate Client Library Tutorial (C++)]] | * [[doc:logging:tutorials-cpp|Beliefstate Client Library Tutorial (C++)]] |
* [[doc/logging/roslog|ROS MongoDB logging]] | * [[doc/logging/roslog|ROS MongoDB logging]] |
| --></html> |
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===== Geometric Reasoning ===== | |
* [[doc/reasoning/overview|Overview]] | |
* [[doc/reasoning/costmaps|Costmaps]] | |
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===== Theses ===== | |
* Comprehensive overview of CRAM components: [[https://mediatum.ub.tum.de/doc/1239461/1239461.pdf|Lorenz Mösenlechner PhD Thesis]] (thesis overview can be found [[lorenz-thesis-overview|here]]) | |
* CRAM language details: [[https://common-lisp.net/~trittweiler/bachelor-thesis.pdf|Tobias Christian Rittweiler Bachelor thesis]] | |
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