This package has been moved to the knowrob_addons repository on github:
Moritz Tenorth, Daniel Nyga, and Michael Beetz, Understanding and Executing Instructions for Everyday Manipulation Tasks from the World Wide Web, IEEE International Conference on Robotics and Automation (ICRA), 2010 https://ias.in.tum.de/_media/spezial/bib/tenorth10webinstructions.pdf
Using the computables defined here, it is possible to query for a plan by giving a natural-language command like 'set the table' and retrieve a description of all required steps in form of an OWL TBOX specification.
The temporary OWL file returned from the Java-based import system is directly parsed and the main concept describing the plan as a whole is returned.
For proper functioning, the Cyc ontology (opencyc.org) has to be installed and must be running:
- roscd opencyc make roslaunch opencyc opencyc.launch
You can either start a ROS service that responds with an OWL action description to a natural language command like 'set a table' or use the system from within KnowRob.
For the first option, just call
- roslaunch comp_ehow comp_ehow.launch
For calling comp_ehow from within KnowRob, call
roscd comp_ehow rosrun rosprolog rosprolog comp_ehow rdf_triple(knowrob:forCommand, A, 'set a table'). A = 'http://www.owl-ontologies.com/Ontology1252257693.owl#SetATable'
The variable (here: A) will be bound to the identifier of the plan that has been generated and already been parsed, so that you can use it for reasoning.
A description how to use the GUI can be found here: http://ias.in.tum.de/kb/wiki/index.php/Manual
At the moment, the howtos are read from text files in the howtos directory