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| doc [2022/02/16 10:04] – [PyCRAM] gkazhoya | doc [2022/03/25 11:42] – [Getting started] gkazhoya |
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| ====== CRAM documentation ====== | ====== CRAM documentation ====== |
| ~~NOTOC~~ | |
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| ===== Getting started ===== | |
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| * [[doc/getting_started|Getting started]] | ===== Getting started ===== |
| * [[doc/guidelines|CRAM Programming Guidelines]] | |
| * [[doc/testing|Utilities for testing CRAM packages]] | * [[installation|CRAM installation instructions]] |
| | * [[/doc/ide|Setup and IDE]] describes the recommended IDE and how to set it up |
| | * [[/doc/getting_started/lisp_crash_course|Very quick crash course in Lisp]] |
| | * [[/tutorials|Tutorials]] to acquire hands-on experience with CRAM |
| | * [[/doc/links|Links]] to broaden your background knowledge on Lisp, Robotics, AI, Planning |
| | * [[/doc/guidelines|Programming Guidelines]]: skim through before starting to write your own CRAM code |
| | * [[doc/testing|Guidelines for test-driven development]] |
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| ===== Frequently Asked Questions ===== | ===== Frequently Asked Questions ===== |
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| <html><!-- * [[doc/faq| CRAM FAQ]] --></html> | |
| * [[https://answers.ros.org/questions/scope:all/sort:activity-desc/page:1/query:cram/|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?]] |
| | * [[doc/faq| CRAM FAQ]] |
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| ===== Functionality Documentation ===== | ===== Publications ===== |
| * [[doc/reasoning/overview|Geometric reasoning with bullet]] | |
| * [[doc/cpl|CRAM Plan Language (CPL) concepts]] | |
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| ===== Theses ===== | ==== Papers ==== |
| * [[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]]) | |
| | See the [[publications|Publications]] page. |
| | |
| | ==== Theses ==== |
| | |
| | * [[https://mediatum.ub.tum.de/doc/1239461/1239461.pdf|Lorenz Mösenlechner PhD Thesis]] on CRAM v1 (thesis overview can be found [[lorenz-thesis-overview|here]]) |
| * {{::tcr_bachelor_thesis.pdf |Tobias Christian Rittweiler Bachelor thesis}} on CRAM language | * {{::tcr_bachelor_thesis.pdf |Tobias Christian Rittweiler Bachelor thesis}} on CRAM language |
| * {{ ::andreas_romero_frueh_bsc.pdf | Andreas Romero Frueh's Bachelor's thesis}} on using the CRAM bullet world for validating perception results | * {{ ::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 | * {{ ::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 | * {{ ::alina_hawkin_bsc.pdf | Alina Hawkin's Bachelor's}} and {{ ::alina_hawkin_msc.pdf |Master' thesis}} on learning action parameters from humans acting in VR |
| * {{ ::vanessa_hassouna_bsc.pdf | Vanessa H.'s Bachelor's thesis}} on cutting and pouring action plans for Bullet simulation | * {{ ::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 | * {{ ::thomas_lipps_bsc.pdf | Thomas Lipps's Bachelor's thesis}} on learning location costmaps from data of humans acting in VR |
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| ===== API ===== | ===== Functionality Documentation ===== |
| * [[doc/api/cram-language|Autogenerated API for cram-language]] | |
| | * [[doc/reasoning/overview|Geometric reasoning with bullet]] |
| | * [[doc/cpl|CRAM Plan Language (CPL) concepts]] |
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| | ===== Autogenerated API ===== |
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| | * [[doc/api/cram-language|cram-language aka CPL]] |
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| ===== ROS Package Documentation ===== | ===== ROS Package Documentation ===== |
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| **This section is outdated, so some code might not run. See the Tutorials page for more up to date code.** | **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/cram_designators|cram_designators]] | * [[doc/package/cram_designators|cram_designators]] |
| * [[doc/package/cram_process_modules|cram_process_modules]] | * [[doc/package/cram_process_modules|cram_process_modules]] |
| |
| ===== PyCRAM ===== | |
| This section contains the documentation for the Python implementation of CRAM called PyCRAM. | |
| * [[doc/pycram/bulletWorld|Bullet World]] | |
| * [[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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