Project for my bachelor degree at the University of Trento A.Y.2022/2023
Developed by:
De Martini Davide
The goal of this project was to develop a Prolog Task planner for performing pick and place tasks. The main task is to build a tower with a "user defined" height. At first a prolog program block_world.pl
was created. Then it was wrapped inside a ROS node for communicating to the robot.
The main folder is:
prolog_project
it contains the ROS node (motion node and planner node)- scripts: Contains the two node plus the utilities
- msg: Contains the
.msg
file for ROS communication
block_world.pl
is the prolog file, the core of this project.
python_node_poc.py
is a simple proof of concept for the pyswip wrapper for prolog
For install the requirements I suggest to follow the Installation section.
For the prolog only version you will only need the SWI Prolog interpeter.
For the ROS simulation you will need:
- SWI Prolog interpeter
- ROS noetic
- Python verion >= 3.8
- Locosim framework for simulating the UR5.
- Pyswip
I reccomend to use Ubuntu 20.04 (I used it for developing the project)
- For testing the prolog only version at first install the prolog interpreter SWI Prolog. Installation is the following:
sudo apt-add-repository ppa:swi-prolog/stable sudo apt update sudo apt install swi-prolog
- Clone the project wherever you want
git clone https://github.com/davidedema/prolog_planner.git
- Load the file with the swipl interpeter
cd ~/prolog_planner swipl block_world.pl
- Follow the prolog installation (only step 1 and 2)
- Install Pyswip
pip3 install git+https://github.com/yuce/pyswip@master#egg=pyswip
- Follow the locosim repository for installing ROS and the UR5 simulation
- Clone this repository inside
~/ros_ws/src
git clone https://github.com/davidedema/prolog_planner
- Build the project
cd ~/ros_ws catkin_make install source install/setup.bash
In order to create a pillar use the pillar/7
rule. This needs 7 parameters in input:
- x: x coord for the pillar generation
- y: y coord for the pillar generation
- z: z coord for the pillar generation
- High: Pillar High
- Width: Pillar width
- Depth: Pillar depth
- Actions: Our "output" variable
It will return in the output variable the plan that the robot has to execute in order to perform the pillar creation
For example, let's create the pillar with height = 0.1 at (1, 0, 0)
pillar(1,0,0,0.1,0.05,0.05,A).
PN: In prolog every instruction finish with the dot '.'.
After the instruction we will see an output like this:
?- pillar(1,0,0,0.1,0.05,0.05,A).
A = [rotate(b1, 0.27, -0.26, 0.685, 1), move(b1, 0.27, -0.26, 0.685, 1, 0, 0), move(b2, 0.41, -0.26, 0.685, 1, 0, -0.05), link(b2, b1)] .
We can see the freshly created pillar with the instruction listing(block/13).
Before running the simulation we need to setup some parameters for the robot:
- ENABLE GRIPPER
- Edit the file
/locosim/robot_control/lab_exercises/lab_palopoli/params.py
at line 44 and 45: set the two flags at True. Now the 2 finger gripper and grasping plugin is enabled.
- Edit the file
- SETUP THE WORLD
- Copy the
X1-Y1-Z2
folder (is the folder model) inside/locosim/ros_impedance_controller/worlds/models/
- Overwrite the world file:
/locosim/ros_impedance_controller/worlds/tavolo.world
with the tavolo.world inside this repository
- Copy the
- After these two changes run:
cd ~/ros_ws catkin_make install source install/setup.bash
Now you are able to run the simulation with the command:
python3 -i ~/ros_ws/src/locosim/robot_control/lab_exercises/lab_palopoli/ur5_generic.py
To enable the two nodes (motion and prolog planner) run these two commands in two separated terminal
python3 -i ~/ros_ws/src/prolog_project/prolog_project/scripts/motion_node.py
python3 -i ~/ros_ws/src/prolog_project/prolog_project/scripts/prolog_node.py
- Luigi Palopoli (Thesis Supervisor): [email protected]
- Marco Roveri (Supervisor): [email protected]
- Edoardo Lamon (Supervisor): [email protected]
- Enrico Saccon (Supervisor): [email protected]