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doc:knowrob_basics [2021/02/18 09:22] – [Loading and querying environment information] daniel86doc:knowrob_basics [2021/02/18 09:25] – [Loading and querying environment information] daniel86
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 <code prolog> <code prolog>
  ?- holds(A, rdf:type, knowrob:'IAIDrawer').  ?- holds(A, rdf:type, knowrob:'IAIDrawer').
- A = 'http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_fridge_area_lower_drawer_main' ; + A = iai_kitchen:'iai_kitchen_fridge_area_lower_drawer_main' ; 
- A = 'http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_kitchen_island_left_lower_drawer_main' ; + A = iai_kitchen:'iai_kitchen_kitchen_island_left_lower_drawer_main' ; 
- A = 'http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_kitchen_island_left_upper_drawer_main' ;+ A = iai_kitchen:'iai_kitchen_kitchen_island_left_upper_drawer_main' ;
  [...]  [...]
 </code> </code>
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 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:'Door4' ; + O = kitchen_island_left_lower_drawer_main ; 
- P = knowrob:depthOfObject, + P = urdf:hasEndLinkName, 
- O = literal(type(xsd:double,'0.574538')) ; + O = kitchen_island_left_lower_drawer_handle ; 
- P = knowrob:heightOfObject, + [...]
- O = literal(type(xsd:double,'0.338121')) ; +
- P = knowrob:widthOfObject, +
- O = literal(type(xsd:double,'0.58045006')) ; +
- P = knowrob:properPhysicalParts, +
- O = knowrob:'Door4' ; +
- P = knowrob:properPhysicalParts, +
- O = knowrob:'Handle127' ; +
- P = knowrob:properPhysicalParts, +
- O = knowrob:'Slider4' ; +
- P = knowrob:describedInMap, +
- O = 'http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0' ; +
- P = 'http://ias.cs.tum.edu/kb/srdl2-comp.owl#urdfName', +
- O = literal(drawer_fridge_bottom_fixed_link) ; +
- P = rdf:type, +
- O = owl:'NamedIndividual' ; +
- P = rdf:type, +
- O = knowrob:'Drawer'+
 </code> </code>
- 
  
 ===== Visualizing objects ===== ===== Visualizing objects =====