CRAM documentation

• Getting started
• CRAM Programming Guidelines
• Utilities for testing CRAM packages

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

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

• Comprehensive overview of CRAM components: Lorenz Mösenlechner PhD Thesis (thesis overview can be found here)
• CRAM language details: Tobias Christian Rittweiler Bachelor thesis

• 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This section is outdated, so some code might not run.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

This section contains the documentation for the Python implementation of CRAM called PyCRAM.

• Bullet World
• Bullet World Reasoning
• Designator
• Process Modules
• Inverse Kinematics
• PyCRAM Plan Language
• Fluents
• Robot Description