The CRAM system consists of an extensive reasoning system and modules for interfacing the ROS system and the PR2 robot. Physics based simulation capabilities enable for foresight into the possible effects of actions. A plan execution layer allows for the execution of rather unspecific robot plans that are filled with information on the fly as necessary. The continuous work on the system is reflected in scientific contributions and papers.
Please refer to the CRAM webpage for more useful information such as tutorials, documentation, installation instructions etc.