Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
doc:srdl2_tutorial [2014/11/27 16:11] – [Action requirements] admin | doc:srdl2_tutorial [2014/11/27 17:05] (current) – [Matching requirements to capabilities] admin | ||
---|---|---|---|
Line 1: | Line 1: | ||
====== Semantic Robot Description Language ====== | ====== Semantic Robot Description Language ====== | ||
~~NOTOC~~ | ~~NOTOC~~ | ||
+ | |||
+ | \\ | ||
+ | ^ This page describes the ' | ||
+ | \\ | ||
+ | |||
+ | |||
{{ : | {{ : | ||
The Semantic Robot Description Language (SRDL) extends KnowRob with representations for robot hardware, robot software and robot capabilities. The hardware models can automatically be [[/ | The Semantic Robot Description Language (SRDL) extends KnowRob with representations for robot hardware, robot software and robot capabilities. The hardware models can automatically be [[/ | ||
Line 16: | Line 22: | ||
* Robot model: Description of a concrete robot instance including its kinematic structure (auto-generated from URDF file), other hardware/ | * Robot model: Description of a concrete robot instance including its kinematic structure (auto-generated from URDF file), other hardware/ | ||
* Task model: Description of the concrete task at hand, using the action classes defined in the srdl-action ontology | * Task model: Description of the concrete task at hand, using the action classes defined in the srdl-action ontology | ||
+ | |||
+ | ===== Startup ===== | ||
+ | |||
+ | <code prolog> | ||
+ | $ rosrun rosprolog rosprolog knowrob_srdl | ||
+ | |||
+ | % Load SRDL model of the PR2 and Baxter robots | ||
+ | ?- owl_parse(' | ||
+ | ?- owl_parse(' | ||
+ | |||
+ | % Load an example task description for serving a drink | ||
+ | ?- register_ros_package(knowrob_actions). | ||
+ | ?- owl_parse(' | ||
+ | </ | ||
===== 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. | ||
- | | + | <code prolog> |
- | Sub = 'http://ias.cs.tum.edu/kb/TUM_Rosie.owl# | + | ?- sub_component(pr2:'PR2Robot1', Sub). |
- | Sub = ' | + | Sub = pr2:pr2_base ; |
- | ... | + | Sub = pr2: |
+ | Sub = pr2: | ||
+ | [...] | ||
+ | </code> | ||
+ | |||
+ | Filter the list of components to only those of a given type, e.g. a // | ||
+ | |||
+ | <code prolog> | ||
+ | ?- sub_component(pr2: | ||
+ | | ||
+ | Sub = pr2: | ||
+ | Sub = pr2: | ||
+ | Sub = pr2: | ||
+ | Sub = pr2: | ||
+ | Sub = pr2: | ||
+ | [...] | ||
+ | </ | ||
+ | |||
+ | Read all properties of a component: | ||
+ | |||
+ | <code prolog> | ||
+ | ?- sub_component(pr2:' | ||
+ | Sub = pr2: | ||
+ | Sub = pr2: | ||
+ | P = srdl2comp: | ||
+ | O = literal(type(' | ||
+ | Sub = pr2: | ||
+ | P = srdl2comp: | ||
+ | O = literal(type(xsd: | ||
+ | Sub = pr2: | ||
+ | P = srdl2comp: | ||
+ | O = literal(type(xsd: | ||
+ | [...] | ||
+ | </ | ||
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): | ||
- | | + | <code prolog> |
- | CompT = 'http:// | + | ?- comp_type_available(pr2:'PR2Robot1', |
- | CompT = ' | + | true |
- | CompT = ' | + | |
- | ... | + | |
- | + | ||
- | Check which capabilities exists on a robot | + | |
- | ?- srdl2: | + | |
- | Cap = ' | + | |
- | Cap = ' | + | |
- | Cap = ' | + | |
- | Cap = ' | + | |
- | ... | + | |
+ | ?- comp_type_available(pr2:' | ||
+ | Sub = srdl2comp:' | ||
+ | Sub = srdl2comp:' | ||
+ | Sub = srdl2comp:' | ||
+ | [...] | ||
+ | </ | ||
+ | |||
+ | Check which capabilities exists on a robot: | ||
+ | <code prolog> | ||
+ | ?- cap_available_on_robot(Cap, | ||
+ | Cap = srdl2cap:' | ||
+ | Cap = srdl2cap:' | ||
+ | [...] | ||
+ | </ | ||
===== Requirements of an action ===== | ===== Requirements of an action ===== | ||
Capabilities an action depends on: | Capabilities an action depends on: | ||
- | | + | |
- | | + | <code prolog> |
- | | + | ?- required_cap_for_action(serve_drink:'ServeADrink', |
- | | + | C = srdl2cap:' |
- | | + | C = srdl2cap:' |
- | ... | + | C = srdl2cap:'GraspingCapability' ; |
+ | C = srdl2cap:' | ||
+ | [...] | ||
+ | </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) | ||
- | | + | <code prolog> |
- | | + | ?- required_comp_for_action(serve_drink:'ServeADrink', |
- | | + | C = srdl2comp:' |
- | | + | C = srdl2comp:' |
- | ... | + | C = srdl2comp:' |
+ | C = srdl2comp:' | ||
+ | [...] | ||
+ | </ | ||
===== Missing components or capabilities ===== | ===== Missing components or capabilities ===== | ||
- | ?- missing_cap_for_action(tablesetting:' | + | <code prolog> |
- | Cap = 'http:// | + | % No components nor capabilities are missing for the ServeADrink action on the PR2: |
- | Cap = ' | + | ?- missing_comp_for_action(serve_drink:'ServeADrink', |
- | + | false. | |
- | ?- missing_comp_for_action(tablesetting:'TableSetting', | + | |
- | false. | + | |
+ | ?- missing_cap_for_action(serve_drink:' | ||
+ | false. | ||
- | ===== Matching requirements to capabilities | + | % The Baxter robot, in contrast, cannot perform the task due to lacking navigation abilities: |
+ | ?- missing_cap_for_action(serve_drink:' | ||
+ | C = srdl2cap:' | ||
+ | </ | ||
+ | ===== 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, | missing_cap_for_action(Action, | ||
| | ||
\+ cap_available_on_robot(Cap, | \+ cap_available_on_robot(Cap, | ||
- | 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: | + | </ |
+ | |||
+ | A missing capability is thus defined as one that is required by an action but not provided by the robot. | ||
+ | <code prolog> | ||
required_cap_for_action(Action, | required_cap_for_action(Action, | ||
| | ||
Line 76: | Line 149: | ||
| | ||
| | ||
+ | </ | ||
- | 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, | cap_available_on_robot(Cap, | ||
Line 98: | Line 173: | ||
| | ||
| | ||
+ | </ | ||
The matching procedure is equivalent for components. | The matching procedure is equivalent for components. |