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Sweep is available from NonGNU ELPA, to install it simply type in
M-x package-install RET sweeprolog RET.
Note that in Emacs prior to version 28, you need to explicitly enable NonGNU ELPA by adding something like the following to your Emacs configuration:
(with-eval-after-load 'package (add-to-list 'package-archives '("nongnu" . "https://elpa.nongnu.org/nongnu/")))