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doc:srdl2_tutorial [2014/11/27 16:30] – admindoc:srdl2_tutorial [2014/11/27 17:05] (current) – [Matching requirements to capabilities] admin
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 $ rosrun rosprolog rosprolog knowrob_srdl $ rosrun rosprolog rosprolog knowrob_srdl
  
-% Load SRDL model of the PR2 robot+% Load SRDL model of the PR2 and Baxter robots
 ?- owl_parse('package://knowrob_srdl/owl/PR2.owl'). ?- owl_parse('package://knowrob_srdl/owl/PR2.owl').
 +?- owl_parse('package://knowrob_srdl/owl/baxter.owl').
  
 +% Load an example task description for serving a drink
 +?- register_ros_package(knowrob_actions).
 +?- owl_parse('package://knowrob_actions/owl/serve_drink.owl').
 </code> </code>
  
 ===== Components and capabilities of a robot ===== ===== Components and capabilities of a robot =====
 Read all components of a robot. There is no distinction between robots and components any more, robots are just complex components that consist of many parts. Read all components of a robot. There is no distinction between robots and components any more, robots are just complex components that consist of many parts.
-  ?- srdl2:sub_component(tumrosie:'TUM_Rosie1', Sub). +<code prolog> 
-  Sub = 'http://ias.cs.tum.edu/kb/TUM_Rosie.owl#TUM_Rosie_WheeledOmnidirPlatform1' ; +?- sub_component(pr2:'PR2Robot1', Sub). 
-  Sub = 'http://ias.cs.tum.edu/kb/TUM_Rosie.owl#TUM_Rosie_Torso1' . +Sub = pr2:pr2_base ; 
- ...+Sub = pr2:pr2_left_arm ; 
 +Sub = pr2:pr2_right_arm 
 +[...] 
 +</code> 
 + 
 +Filter the list of components to only those of a given type, e.g. a //Camera//: 
 + 
 +<code prolog> 
 +?- sub_component(pr2:'PR2Robot1', Sub),  
 +   owl_individual_of(Sub, srdl2comp:'Camera'). 
 +Sub = pr2:pr2_high_def_frame ; 
 +Sub = pr2:pr2_high_def_frame ; 
 +Sub = pr2:pr2_wide_stereo_l_stereo_camera_frame ; 
 +Sub = pr2:pr2_wide_stereo_r_stereo_camera_frame ; 
 +Sub = pr2:pr2_narrow_stereo_l_stereo_camera_frame 
 +[...] 
 +</code> 
 + 
 +Read all properties of a component: 
 + 
 +<code prolog> 
 +?- sub_component(pr2:'PR2Robot1', Sub), owl_has(Sub, P, O). 
 +Sub = pr2:pr2_high_def_frame, 
 +Sub = pr2:pr2_high_def_frame, 
 +P = srdl2comp:update_rate, 
 +O = literal(type('http://qudt.org/vocab/unit#Hertz','20.0')) ; 
 +Sub = pr2:pr2_high_def_frame, 
 +P = srdl2comp:frameName, 
 +O = literal(type(xsd:string,high_def_optical_frame)) ; 
 +Sub = pr2:pr2_high_def_frame, 
 +P = srdl2comp:hfov, 
 +O = literal(type(xsd:string,'0.785398163397')) 
 +[...] 
 +</code> 
 Check whether a component of a certain type exists on a robot (or, in general, as part of another component): Check whether a component of a certain type exists on a robot (or, in general, as part of another component):
-  ?- srdl2:comp_type_available(tumrosie:'TUM_Rosie1', CompT). +<code prolog> 
-  CompT = 'http://ias.cs.tum.edu/kb/srdl2-comp.owl#VectorFieldArmController' ; +?- comp_type_available(pr2:'PR2Robot1', srdl2comp:'Camera'). 
-  CompT = 'http://ias.cs.tum.edu/kb/srdl2-comp.owl#ArmMotionController' ; +true
-  CompT = 'http://ias.cs.tum.edu/kb/srdl2-comp.owl#MotionControllerComponent' ; +
-  ... +
-   +
-Check which capabilities exists on a robot +
-  ?- srdl2:cap_available_on_robot(Cap, tumrosie:'TUM_Rosie1'). +
-  Cap = 'http://ias.cs.tum.edu/kb/srdl2-cap.owl#ArmMotionCapability' ; +
-  Cap = 'http://ias.cs.tum.edu/kb/srdl2-cap.owl#BaseMotionCapability' ; +
-  Cap = 'http://ias.cs.tum.edu/kb/srdl2-cap.owl#GripperMotionCapability' ; +
-  Cap = 'http://ias.cs.tum.edu/kb/srdl2-cap.owl#HeadMotionCapability' ; +
-  ...+
  
 +?- comp_type_available(pr2:'PR2Robot1', Sub).
 +Sub = srdl2comp:'Pr2Base' ;
 +Sub = srdl2comp:'WheeledBase' ;
 +Sub = srdl2comp:'MobileBase' ;
 +[...]
 +</code>
 +
 +Check which capabilities exists on a robot:
 +<code prolog>
 +?- cap_available_on_robot(Cap, pr2:'PR2Robot1').
 +Cap = srdl2cap:'GraspingCapability' ;
 +Cap = srdl2cap:'ObjectManipulationCapability' ;
 +[...]
 +</code>
 ===== Requirements of an action ===== ===== Requirements of an action =====
  
 Capabilities an action depends on: Capabilities an action depends on:
-  ?- srdl2:required_cap_for_action(tablesetting:'TableSetting', Cap). + 
-  Cap = 'http://ias.cs.tum.edu/kb/srdl2-cap.owl#PuttingDownAnObjectCapability' ; +<code prolog> 
-  Cap = 'http://ias.cs.tum.edu/kb/srdl2-cap.owl#PickingUpAnObjectCapability' ; +?- required_cap_for_action(serve_drink:'ServeADrink', C). 
-  Cap = 'http://ias.cs.tum.edu/kb/srdl2-cap.owl#BaseMotionCapability' ; +C = srdl2cap:'BaseMotionCapability' ; 
-  Cap = 'http://ias.cs.tum.edu/kb/srdl2-cap.owl#ArmMotionCapability' ; +C = srdl2cap:'ArmMotionCapability' ; 
-  ...+C = srdl2cap:'GraspingCapability' ; 
 +C = srdl2cap:'GripperMotionCapability' 
 +[...] 
 +</code> 
 Components an action depends on (either directly or via required capabilities that depend on these components) Components an action depends on (either directly or via required capabilities that depend on these components)
-  ?- srdl2:required_comp_for_action(tablesetting:'TableSetting', Comp). +<code prolog> 
-  Comp = 'http://ias.cs.tum.edu/kb/srdl2-comp.owl#MobileBase' ; +?- required_comp_for_action(serve_drink:'ServeADrink', C). 
-  Comp = 'http://ias.cs.tum.edu/kb/srdl2-comp.owl#ArmMotionController' ; +C = srdl2comp:'MobileBase' ; 
-  Comp = 'http://ias.cs.tum.edu/kb/srdl2-comp.owl#ArmComponent' ; +C = srdl2comp:'ArmMotionController' ; 
-  ...+C = srdl2comp:'ArmComponent' ; 
 +C = srdl2comp:'ManipulationEntity' 
 +[...] 
 +</code>
  
 ===== Missing components or capabilities ===== ===== Missing components or capabilities =====
  
-  ?- missing_cap_for_action(tablesetting:'TableSetting', tumrosie:'TUM_Rosie1', Cap). +<code prolog> 
-  Cap = 'http://ias.cs.tum.edu/kb/srdl2-cap.owl#PuttingDownAnObjectCapability' ; +% No components nor capabilities are missing for the ServeADrink action on the PR2: 
-  Cap = 'http://ias.cs.tum.edu/kb/srdl2-cap.owl#PickingUpAnObjectCapability' ;+?- missing_comp_for_action(serve_drink:'ServeADrink', pr2:'PR2Robot1', C). 
 +false.
  
-  ?- missing_comp_for_action(tablesetting:'TableSetting', tumrosie:'TUM_Rosie1', Comp). +?- missing_cap_for_action(serve_drink:'ServeADrink', pr2:'PR2Robot1', C). 
-  false.+false.
  
- +% The Baxter robot, in contrast, cannot perform the task due to lacking navigation abilities: 
-===== Matching requirements to capabilities =====+?- missing_cap_for_action(serve_drink:'ServeADrink', baxter:baxter_baxter1, C). 
 +C = srdl2cap:'BaseMotionCapability' 
 +</code> 
 +===== Behind the scenes: Implementation of the matching procedures =====
  
 The matching can effectively reduced to the following statement: The matching can effectively reduced to the following statement:
 +<code prolog>
   missing_cap_for_action(Action, Robot, Cap) :-   missing_cap_for_action(Action, Robot, Cap) :-
      required_cap_for_action(Action, Cap),      required_cap_for_action(Action, Cap),
      \+ cap_available_on_robot(Cap, Robot).      \+ cap_available_on_robot(Cap, Robot).
-A missing capability is thus defined as one that is required by an action, but not provided by the robot. Required means that either the action itself or any sub-action has a dependency on this capability:+</code> 
 +      
 +A missing capability is thus defined as one that is required by an action but not provided by the robot. "Required" thereby means that either the action itself or any sub-action has a dependency on this capability: 
 +<code prolog>
   required_cap_for_action(Action, Cap) :-   required_cap_for_action(Action, Cap) :-
      class_properties(Action, srdl2cap:'dependsOnCapability', Cap).      class_properties(Action, srdl2cap:'dependsOnCapability', Cap).
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      plan_subevents_recursive(Action, SubAction),      plan_subevents_recursive(Action, SubAction),
      class_properties(SubAction, srdl2cap:'dependsOnCapability', Cap).      class_properties(SubAction, srdl2cap:'dependsOnCapability', Cap).
 +</code>
  
-There are three possibilities to express that a capability is available on a robot: Either it is asserted to be available for the whole class of robots (e.g. every PR2 has a holonomic base), for a specific robot instance, or it can be concluded that the capability should be available because all specified dependencies on components or other capabilities are fulfilled: 
  
 +There are three possibilities to express that a capability is available on a robot: Either it is asserted to be available for the whole class of robots (e.g. every PR2 has a mobile base), for a specific robot instance, or it can be concluded that the capability should be available because all specified dependencies on components or other capabilities are fulfilled:
 +<code prolog>
   % capability asserted for robot instance   % capability asserted for robot instance
   cap_available_on_robot(Cap, Robot) :-   cap_available_on_robot(Cap, Robot) :-
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      forall( class_properties(Cap, srdl2cap:'dependsOnCapability', SubCap),      forall( class_properties(Cap, srdl2cap:'dependsOnCapability', SubCap),
              cap_available_on_robot(SubCap, Robot) ).              cap_available_on_robot(SubCap, Robot) ).
 +</code>
  
 The matching procedure is equivalent for components. The matching procedure is equivalent for components.