You need the following installed:

• ROS -- indigo or later (should work fine on earlier versions but hasn't been tested)
• SPARC (https://github.com/iensen/sparc/wiki)
• DLV (http://www.dlvsystem.com/). This needs to be executable from the folder you run the code from.
• python with pygame, numpy and scipy.

Running the code: Run each of the following in a separate terminal:

• rosrun asp_module ASPInterface.py path_to_SPARC_solver path_to_catkin_workspace/src/asp_module/src/
• rosrun controller_module ControllerInterface.py
• rosrun learning_module LearningModule.py
• rosrun simulator_module Simulator.py

If you want to use a robot arm instead you can create a Robot module to replace the simulator module.