===== CRAM Versions =====
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 [[https://www.github.com/cram-code/|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.