The CRAM system is under active development and changes continuously. To make development of external components on the basis of CRAM possible, fixed version numbers with a set of features are tagged on the GitHub repository where the code resides.
Current Version: v0.1.1
Grasping of objects with/without handles is unified and now solely relies on prolog patterns deciding the grasp technique to use.
Visibility reasoning now works on the basis of the bullet reasoning system and generates costmaps for currently visible/invisible regions, and object-occluded regions.
The overall structure of the PR2 related code was refactored and cleaned up. It should now be a bit more stable.
Older Versions
v0.1
Basic CRAM system with stable navigation and manipulation capabilities.
Arms, grippers and the robot base can be controlled using the shipped functionalities.
A basic plan library consisting of grasp, place, and perceive plans is available.
Belief state management is done using a timeline-like feature in which all events are stored.