Artificial Intelligence Wiki

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.

• 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.

• 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.