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http://cram-system.org/tutorials/beginner/controlling_turtlesim_2 http://cram-system.org/tutorials/beginner/motion_designators http://cram-system.org/tutorials/beginner/process_modules_2 http://cram-system.org/tutorials/beginner/assigning_actions_2 http://cram-system.org/tutorials/beginner/location_designators_2 http://cram-system.org/tutorials/beginner/high_level_plans
