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doc:knowrob_basics [2021/02/18 08:57] – [Querying the KnowRob ontology] daniel86 | doc:knowrob_basics [2021/02/18 09:25] – [Loading and querying environment information] daniel86 | ||
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<code prolog> | <code prolog> | ||
?- subclass_of(A, | ?- subclass_of(A, | ||
- | A = dul:' | + | A = dul:' |
- | A = dul:' | + | A = dul:' |
- | A = dul:' | + | A = dul:' |
- | A = dul:' | + | A = dul:' |
</ | </ | ||
Line 33: | Line 33: | ||
So far, we only performed reasoning on the class level. For robotic applications, | So far, we only performed reasoning on the class level. For robotic applications, | ||
<code prolog> | <code prolog> | ||
- | ? | + | ? |
</ | </ | ||
- | You can query for properties of instances using the rdf_has(S, | + | You can query for properties of instances using the holds(S, |
<code prolog> | <code prolog> | ||
- | ? | + | ? |
- | A = knowrob:'Drawer1' ; | + | A = iai_kitchen:'iai_kitchen_fridge_area_lower_drawer_main' ; |
- | A = knowrob:'Drawer103' ; | + | A = iai_kitchen:'iai_kitchen_kitchen_island_left_lower_drawer_main' ; |
- | A = knowrob:'Drawer109' ; | + | A = iai_kitchen:'iai_kitchen_kitchen_island_left_upper_drawer_main' ; |
[...] | [...] | ||
</ | </ | ||
Line 47: | Line 47: | ||
For getting an overview of the information that is available about one object instance, we can query for all triples where the respective instance fills the Subject slot. In this example we pass two unbound variables //P// and //O// as arguments and receive all possible combinations of values as result. | For getting an overview of the information that is available about one object instance, we can query for all triples where the respective instance fills the Subject slot. In this example we pass two unbound variables //P// and //O// as arguments and receive all possible combinations of values as result. | ||
<code prolog> | <code prolog> | ||
- | ?- owl_has(knowrob:'Drawer1', P, O). | + | ?- owl_has(iai_kitchen:'iai_kitchen_kitchen_island_left_lower_drawer_main', P, O). |
- | P = knowrob:prismaticallyConnectedTo, | + | P = urdf:hasBaseLinkName, |
- | O = knowrob:' | + | O = kitchen_island_left_lower_drawer_main |
- | P = knowrob:depthOfObject, | + | P = urdf:hasEndLinkName, |
- | O = literal(type(xsd: | + | O = kitchen_island_left_lower_drawer_handle |
- | P = knowrob: | + | [...] |
- | O = literal(type(xsd: | + | |
- | P = knowrob: | + | |
- | O = literal(type(xsd: | + | |
- | P = knowrob: | + | |
- | O = knowrob:' | + | |
- | P = knowrob: | + | |
- | O = knowrob:' | + | |
- | P = knowrob: | + | |
- | O = knowrob:' | + | |
- | P = knowrob: | + | |
- | O = ' | + | |
- | P = ' | + | |
- | O = literal(drawer_fridge_bottom_fixed_link) ; | + | |
- | P = rdf:type, | + | |
- | O = owl:' | + | |
- | P = rdf:type, | + | |
- | O = knowrob:' | + | |
</ | </ | ||
- | |||
===== Visualizing objects ===== | ===== Visualizing objects ===== |