From e1dcec8b5c94e7102ce429de26e41e30f03d4712 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9=20Antakli?= Date: Wed, 10 Jan 2024 14:58:23 +0100 Subject: [PATCH 1/5] updated node_definition --- .../nodeDefinitions/node_definitions.ttl | 36 +++++++++++-------- 1 file changed, 21 insertions(+), 15 deletions(-) diff --git a/executionservice/use-case/editor/nodeDefinitions/node_definitions.ttl b/executionservice/use-case/editor/nodeDefinitions/node_definitions.ttl index 165727de..7e56ade0 100644 --- a/executionservice/use-case/editor/nodeDefinitions/node_definitions.ttl +++ b/executionservice/use-case/editor/nodeDefinitions/node_definitions.ttl @@ -48,7 +48,7 @@ nd:type bt:BehaviorTree; nd:style [ a nd:StyleDef; - nd:color "#ff425b"; + nd:color "#EA5B97"; nd:shape nd:Rectangle; nd:padding "600%"; nd:paddingTo "width"; @@ -337,7 +337,7 @@ nd:type bt:Action; nd:style [ a nd:StyleDef; - nd:color "#FFFEE3"; + nd:color "#FFF176"; nd:shape nd:Polygon; nd:polygon "[-1, 0, -0.9, 1, 0.9, 1, 1, 0, 0.9, -1, -0.9, -1]"; nd:padding "700%"; @@ -386,7 +386,7 @@ nd:type bt:Condition; nd:style [ a nd:StyleDef; - nd:color "#E3F8FF"; + nd:color "#81B7E4"; nd:shape nd:Ellipse; nd:padding "900%"; nd:paddingTo "width"; @@ -411,7 +411,7 @@ nd:type bt:LoadBehavior; nd:style [ a nd:StyleDef; - nd:color "#f46255"; + nd:color "#F5A399"; nd:shape nd:Rectangle; nd:padding "900%"; nd:paddingTo "width"; @@ -546,7 +546,7 @@ nd:type bt:GoalProducer; nd:style [ a nd:StyleDef; - nd:color "#85ade5"; + nd:color "#F39B10"; nd:shape nd:Roundrectangle; nd:padding "900%"; nd:paddingTo "width"; @@ -578,7 +578,7 @@ nd:type bt:EventProducer; nd:style [ a nd:StyleDef; - nd:color "#85ade5"; + nd:color "#F8C370"; nd:shape nd:Roundrectangle; nd:padding "900%"; nd:paddingTo "width"; @@ -641,7 +641,7 @@ nd:type bt:Update; nd:style [ a nd:StyleDef; - nd:color "#E3FFE3"; + nd:color "#8EC8B2"; nd:shape nd:Roundrectangle; nd:padding "600%"; nd:paddingTo "width"; @@ -673,11 +673,13 @@ nd:type bt:HandleEvent; nd:style [ a nd:StyleDef; - nd:color "#d3ff6d"; + nd:labelColor "#FFFFFF"; + nd:color "#1B3284"; nd:shape nd:Roundrectangle; nd:padding "900%"; nd:paddingTo "width"; nd:icon "handle-event.png"; + nd:node-icon "handle-event-w.png"; ]; nd:parameter [ a nd:Parameter; @@ -704,11 +706,13 @@ nd:type bt:HandleQueueEvent; nd:style [ a nd:StyleDef; - nd:color "#a2ff6d"; + nd:labelColor "#FFFFFF"; + nd:color "#1E1B55"; nd:shape nd:Roundrectangle; nd:padding "900%"; nd:paddingTo "width"; nd:icon "handle-queue-event.png"; + nd:node-icon "handle-queue-event-w.png"; ]; nd:parameter [ a nd:Parameter; @@ -734,7 +738,7 @@ nd:type bt:Write; nd:style [ a nd:StyleDef; - nd:color "#ffb16d"; + nd:color "#5CB697"; nd:shape nd:Roundrectangle; nd:padding "600%"; nd:paddingTo "width"; @@ -758,7 +762,7 @@ nd:type bt:Evaluate; nd:style [ a nd:StyleDef; - nd:color "#cea6ff"; + nd:color "#000000"; nd:shape nd:Roundrectangle; nd:padding "600%"; nd:paddingTo "width"; @@ -803,7 +807,7 @@ nd:type bt:Wait; nd:style [ a nd:StyleDef; - nd:color "#eea5ff"; + nd:color "#7F7F7F"; nd:shape nd:Roundrectangle; nd:padding "600%"; nd:paddingTo "width"; @@ -829,11 +833,13 @@ nd:type bt:HandleMappingEvent; nd:style [ a nd:StyleDef; - nd:color "#7db300"; + nd:labelColor "#FFFFFF"; + nd:color "#504AC5"; nd:shape nd:Roundrectangle; nd:padding "900%"; nd:paddingTo "width"; nd:icon "handle-json-event.png"; + nd:node-icon "handle-json-event-w.png"; ]; nd:parameter [ a nd:Parameter; @@ -1138,12 +1144,12 @@ nd:type bt:ConvertToUnixTime; nd:style [ a nd:StyleDef; - nd:color "#00ff84"; + nd:color "#FFFFFF"; nd:shape nd:Polygon; nd:polygon "[-1, 0, -0.9, 1, 0.9, 1, 1, 0, 0.9, -1, -0.9, -1]"; nd:padding "700%"; nd:paddingTo "width"; - nd:icon "icons8-new-post.png"; + nd:icon "convert.png"; ]; nd:parameter [ a nd:Parameter; From 03978092e4b2ce8895a44a438341c321590d5a20 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9=20Antakli?= Date: Wed, 10 Jan 2024 14:58:35 +0100 Subject: [PATCH 2/5] updated tightening operation --- .../use-case/behaviors/behaviors.ttl | 5659 ++++++++++------- 1 file changed, 3304 insertions(+), 2355 deletions(-) diff --git a/executionservice/use-case/behaviors/behaviors.ttl b/executionservice/use-case/behaviors/behaviors.ttl index 169c0fa5..5200485a 100644 --- a/executionservice/use-case/behaviors/behaviors.ttl +++ b/executionservice/use-case/behaviors/behaviors.ttl @@ -8,97 +8,93 @@ rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b496 . + _:genid-64f25be5d6034e66af719eba4856a993-b498 . -_:genid-524df1dd58a943f5984cb583a6633856-b373 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b373 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: -PREFIX xsd: +PREFIX test: -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . -_:genid-524df1dd58a943f5984cb583a6633856-b374 a ; - ; - """PREFIX mosim: -PREFIX rdf: + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Return01\" ; + mosim:startCondition ?startCondition ; + mosim:instructionID ?returnID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . -SELECT ?port + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"ROOT\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . -_:genid-524df1dd58a943f5984cb583a6633856-b375 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . + ?agent rdf:type ajan:This ; + mosim:tighteningTool ?screwdriverObject . - - a ; - rdfs:comment ""; - rdfs:label "defaultSequence" . + mosim:RandomIDs mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?screwManualID, \":end+ 0.05\") AS ?startCondition) - - a ; - ; - rdfs:label "Place Goal"; - rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b447 . + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwdriverObject ; + mosim:finalLocation ?target . + + ?target rdf:type mosim:FinalLocation ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"ROOT\" ; + mosim:object ?object . -_:genid-524df1dd58a943f5984cb583a6633856-b376 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . - - a ; - ; - rdfs:label "Carry Goal"; + rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b432 . + ; + ; + rdfs:label "ScrewManual(Object)"; + _:genid-64f25be5d6034e66af719eba4856a993-b542 . - - a ; - rdfs:label "Insert_Goal"; - ; + rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b476 . - -_:genid-524df1dd58a943f5984cb583a6633856-b377 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b378 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . -}""" . + ; + ; + rdfs:label "Place(Object)"; + _:genid-64f25be5d6034e66af719eba4856a993-b545 . -_:genid-524df1dd58a943f5984cb583a6633856-b379 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b374 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -183,107 +179,75 @@ WHERE { mosim:port ?port . }""" . - - a ; - ; - rdfs:label "Retrieve Goal"; + + a ; rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b398 . + rdfs:label "defaultSequence" . + + + a ; + ; + rdfs:label "Place Goal"; + rdfs:comment "" . -_:genid-524df1dd58a943f5984cb583a6633856-b380 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b375 a ; ; """PREFIX mosim: PREFIX rdf: SELECT ?host ?port WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?scene rdf:type mosim:Registry . + ?scene mosim:host ?host . + ?scene mosim:port ?port . }""" . - +_:genid-64f25be5d6034e66af719eba4856a993-b376 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . + + a ; - ; - rdfs:label "Walk Goal"; - rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b397 . + ; + rdfs:label "Carry Goal"; + rdfs:comment "" . -_:genid-524df1dd58a943f5984cb583a6633856-b381 a , - ; + + a ; + rdfs:label "Insert_Goal"; + ; + rdfs:comment "" . + +_:genid-64f25be5d6034e66af719eba4856a993-b377 a ; ; """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: PREFIX rdf: PREFIX test: +PREFIX mosim: -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Return01\" ; - mosim:startCondition ?startCondition ; - mosim:instructionID ?returnID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . +INSERT { + ?agent mosim:runningTask test:Task . + ?agent mosim:runningOperation test:Operation . + test:Task mosim:step -1 . + test:Task a mosim:Task . + test:Task mosim:operation test:Operation . - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + test:Operation mosim:step -1 . + test:Operation a mosim:Operation . + + ?agent mosim:hand \"Right\" . + ?agent mosim:location \"material_station_target\" . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?screwManualID, \":end+ 0.05\") AS ?startCondition) - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwdriverObject ; - mosim:finalLocation ?target . - - ?target rdf:type mosim:FinalLocation ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"ROOT\" ; - mosim:object ?object . - - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?agent rdf:type ajan:This . }""" . - - a ; - ; - rdfs:comment ""; - rdfs:label "UnregisterListener_InitError" . - -_:genid-524df1dd58a943f5984cb583a6633856-b382 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b378 a ; ; """PREFIX mosim: PREFIX rdf: @@ -294,113 +258,62 @@ WHERE { ?cosim mosim:port ?port . }""" . - - a ; - rdfs:label "GetBoundary(HandScrew)"; - ; - rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b468 . - -_:genid-524df1dd58a943f5984cb583a6633856-b383 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b379 a , + ; ; - """PREFIX rdf: -PREFIX ajan: + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: - -ASK -WHERE { - ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?target . -} -""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b384 a ; - ; - """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:finalEvent \"PositioningFinished\" ; + mosim:mmu \"Object/Carry\" ; + mosim:actionName \"Carry01\" ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value \"shelf-v1 (1)\" . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . + ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . }""" . - - a ; - rdfs:label "defaultSequence" . - - - a ; - ; - rdfs:comment ""; - rdfs:label "RegisterListener_InitError"; - _:genid-524df1dd58a943f5984cb583a6633856-b470; - _:genid-524df1dd58a943f5984cb583a6633856-b384; - _:genid-524df1dd58a943f5984cb583a6633856-b503 . - -_:genid-524df1dd58a943f5984cb583a6633856-b385 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + + a ; + ; + rdfs:label "Retrieve Goal"; + rdfs:comment "" . -_:genid-524df1dd58a943f5984cb583a6633856-b386 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b380 a ; ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: - -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:walkFrom ?targetID ; - mosim:walkTo ?location ; - mosim:carried ?mSceneObject ; - mosim:executedTask ?task . + """DELETE { + ?s ?p ?o . } WHERE { - ?agent mosim:nextLocation ?targetID ; - mosim:location ?location ; - mosim:carrying ?mSceneObject . - - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b387 a ; - ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . + ?s ?p ?o . + ?s a . }""" . - - a ; - ; - rdfs:comment ""; - rdfs:label "UnregisterListener_PositionFinished" . + + a ; + ; + rdfs:label "Walk Goal"; + rdfs:comment "" . -_:genid-524df1dd58a943f5984cb583a6633856-b388 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b381 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -410,97 +323,51 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Locomotion/Walk\" ; - mosim:actionName \"Walk00\" ; - mosim:mmuProperty test:TargetProperty . + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve02\" ; + mosim:instructionID ?retrieveID ; + mosim:mmuProperty test:Object . - test:TargetProperty mosim:key \"TargetID\" ; - mosim:value ?id . + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . } WHERE { - ?agent mosim:nextLocation ?targetID . - ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?target rdf:type mosim:MSceneObject ; - rdfs:label ?targetID ; - mosim:id ?id . + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject . + + mosim:RandomIDs mosim:retrieveID ?retrieveID . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . }""" . - - a ; - ; - rdfs:comment ""; - rdfs:label "UnregisterListener_End" . - -_:genid-524df1dd58a943f5984cb583a6633856-b389 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b382 a ; ; """PREFIX mosim: PREFIX rdf: - -SELECT ?eventType +SELECT ?host ?port WHERE { - VALUES ?eventType {\"PositioningFinished\"} + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . - - a ; - false; - rdfs:label "NOT_InHand(Object)"; - rdfs:comment "" . - - + a ; ; rdfs:comment ""; - rdfs:label "UnregisterListener_CycleEnd" . - -_:genid-524df1dd58a943f5984cb583a6633856-b390 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 3) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . - - - a ; - false; - rdfs:label "Save History"; - rdfs:comment "" . - - - a , ; - ; - rdfs:label "Hyllis_BT" . - - - a ; - rdfs:label "HandleEvent"; - rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b430 . - - - a ; - rdfs:label "Parallel"; - true; - rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b554 . + rdfs:label "UnregisterListener_InitError" . -_:genid-524df1dd58a943f5984cb583a6633856-b391 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b383 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -511,66 +378,510 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Object/Carry\" . - test:Instruction mosim:actionName \"Carry01\" . - test:Instruction mosim:mmuProperty test:Object . + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place02\" ; + mosim:startCondition ?startCondition ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . - test:Object mosim:key \"Object\" . - test:Object mosim:value \"shelf-v1 (1)\" . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . -_:genid-524df1dd58a943f5984cb583a6633856-b392 a ; - ; - """PREFIX mosim: -PREFIX rdf: + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . -SELECT ?eventType -WHERE { - VALUES ?eventType {\"cycleEnd\"} -}""" . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?insertConnection . - - a ; - ; - rdfs:label "GetBoundary(Carry(Object))"; - rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b488 . + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?bound_id . - - a , ; - rdfs:label "Place_BT" . + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . - - a ; - ; - rdfs:comment ""; - rdfs:label "GetBoundary(Retreive)"; - _:genid-524df1dd58a943f5984cb583a6633856-b391 . + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . -_:genid-524df1dd58a943f5984cb583a6633856-b393 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject ; + mosim:insertConnection ?insertConnection . + + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . + + BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) + BIND(CONCAT(?handScrewID, \":end+ 0.01\") AS ?endCondition) + + { SELECT ?constraint_1 + WHERE { + ?agent rdf:type ajan:This ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?insertLocation ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id ?insertConnection . + } LIMIT 1 + } + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + ?bounderies rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object_2 . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + + + a ; + rdfs:label "GetBoundary(HandScrew)"; + ; + rdfs:comment ""; + _:genid-64f25be5d6034e66af719eba4856a993-b453 . + +_:genid-64f25be5d6034e66af719eba4856a993-b384 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b385 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + + + a ; + rdfs:label "defaultSequence" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "RegisterListener_InitError" . + +_:genid-64f25be5d6034e66af719eba4856a993-b386 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:finalEvent \"PositioningFinished\" ; + mosim:mmu \"Object/Carry\" ; + mosim:actionName \"Carry01\" ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { ?avatar rdf:type mosim:Avatar . ?avatar mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:carrying ?mSceneObject . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b387 a ; + "CONSTRUCT WHERE {?s ?p ?o}"; + . + +_:genid-64f25be5d6034e66af719eba4856a993-b388 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place03\" ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . + + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?bound_id . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) + + ?bounderies rdf:type ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "UnregisterListener_PositionFinished" . + +_:genid-64f25be5d6034e66af719eba4856a993-b389 a ; + ; + """PREFIX mosim: + +INSERT { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . +} +WHERE { + BIND(RAND() AS ?rand) + + BIND(CONCAT(\"Retrieve03_ID\", STR(?rand)) AS ?retrieveID) + BIND(CONCAT(\"Place03_ID\", STR(?rand)) AS ?placeID) + BIND(CONCAT(\"Return01_ID\", STR(?rand)) AS ?returnID) + BIND(CONCAT(\"ScrewManual01_ID\", STR(?rand)) AS ?screwManualID) +}""" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "UnregisterListener_End" . + +_:genid-64f25be5d6034e66af719eba4856a993-b390 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint . + + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . + + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + + + a ; + false; + rdfs:label "NOT_InHand(Object)"; + rdfs:comment "" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "UnregisterListener_CycleEnd" . + +_:genid-64f25be5d6034e66af719eba4856a993-b391 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +DELETE { + ?agent mosim:retrieving ?object . +} +INSERT { + ?agent mosim:inHand ?object . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:retrieving ?object . +}""" . + + + a ; + false; + rdfs:label "Save History"; + rdfs:comment "" . + + + a , ; + ; + rdfs:label "Hyllis_BT" . + + + a ; + rdfs:label "HandleEvent"; + rdfs:comment ""; + _:genid-64f25be5d6034e66af719eba4856a993-b493 . + +_:genid-64f25be5d6034e66af719eba4856a993-b392 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 3) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + + + a ; + rdfs:label "Parallel"; + true; + rdfs:comment ""; + _:genid-64f25be5d6034e66af719eba4856a993-b581 . + +_:genid-64f25be5d6034e66af719eba4856a993-b393 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 3) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b394 a ; + ; + """PREFIX mosim: + +ASK +WHERE { + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . + + { SELECT (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?currTask . + ?currTask a mosim:Task . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } + } + + BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?otStep) + + BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + + FILTER(?step = ?newSStep) + FILTER(?ntStep = ?otStep) + + ?newTask a mosim:Task . + ?newTask mosim:step ?ntStep . + ?newTask mosim:operation ?newOperation . + ?newOperation mosim:step ?step . + ?newOperation mosim:type ?type . + + FILTER CONTAINS(?type,\"Tighten\") +} +""" . + + + a ; + ; + rdfs:label "GetBoundary(Carry(Object))"; + rdfs:comment ""; + _:genid-64f25be5d6034e66af719eba4856a993-b447 . + + + a , ; + rdfs:label "Place_BT" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "GetBoundary(Retreive)"; + _:genid-64f25be5d6034e66af719eba4856a993-b454 . + +_:genid-64f25be5d6034e66af719eba4856a993-b395 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"end\"} +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b396 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . @@ -578,21 +889,20 @@ WHERE { ; rdfs:label "HandleEvent"; rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b375 . + _:genid-64f25be5d6034e66af719eba4856a993-b461 . -_:genid-524df1dd58a943f5984cb583a6633856-b394 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b397 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 2) as ?port) +SELECT ?host ?port WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b395 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b398 a ; ; """PREFIX mosim: PREFIX rdf: @@ -607,76 +917,207 @@ WHERE { a ; ; rdfs:comment ""; - rdfs:label "RegisterListener_PositionFinished"; - _:genid-524df1dd58a943f5984cb583a6633856-b373; - _:genid-524df1dd58a943f5984cb583a6633856-b469; - _:genid-524df1dd58a943f5984cb583a6633856-b401 . + rdfs:label "RegisterListener_PositionFinished" . -_:genid-524df1dd58a943f5984cb583a6633856-b396 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b399 a , + ; ; - """PREFIX rdf: + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: -PREFIX ajan: +PREFIX rdf: +PREFIX test: -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:placed ?mSceneObject ; - mosim:executedTask ?task . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint . + + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . + + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { - ?agent mosim:placeing ?mSceneObject . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . - ?running mosim:runningTask ?task . + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . - BIND (NOW() AS ?date) + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b397 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b400 a , + ; ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX ajan: + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: +PREFIX rdf: +PREFIX test: CONSTRUCT { - ?agent mosim:nextLocation ?targetID . + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place03\" ; + mosim:startCondition ?startCondition ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . + + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?bound_id . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObject . - - ?area rdf:type mosim:Area ; - mosim:hasChild ?subject ; - mosim:hasChild ?target . + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . - ?target rdf:type mosim:WalkTarget ; - rdfs:label ?targetID . + BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) + + ?bounderies rdf:type ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b398 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b401 a ; ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX ajan: -PREFIX mosim: + """PREFIX mosim: -CONSTRUCT { - ?agent mosim:retrieving ?mSceneObject . -} +ASK WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . -}""" . + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . + + { SELECT (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?currTask . + ?currTask a mosim:Task . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } + } + + BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?otStep) + + BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + + FILTER(?step = ?newSStep) + FILTER(?ntStep = ?otStep) + + ?newTask a mosim:Task . + ?newTask mosim:step ?ntStep . + ?newTask mosim:operation ?newOperation . + ?newOperation mosim:step ?step . + ?newOperation mosim:type ?type . + + FILTER CONTAINS(?type,\"Tighten\") +} +""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b402 a ; + ; + "" . a ; @@ -684,25 +1125,62 @@ WHERE { false; rdfs:comment "" . - - a ; - false; - rdfs:label "Save History"; - rdfs:comment "" . + + a ; + false; + rdfs:label "Save History"; + rdfs:comment "" . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Delete IDs" . + + + a ; + rdfs:label "defaultSequence"; + rdfs:comment "" . + +_:genid-64f25be5d6034e66af719eba4856a993-b403 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve03\" ; + mosim:instructionID ?retrieveID ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - - a ; - false; - rdfs:comment ""; - rdfs:label "Delete IDs" . + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . - - a ; - rdfs:label "defaultSequence"; - rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b565 . + mosim:RandomIDs mosim:retrieveID ?retrieveID . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . -_:genid-524df1dd58a943f5984cb583a6633856-b399 a , +_:genid-64f25be5d6034e66af719eba4856a993-b404 a , ; ; """PREFIX ajan: @@ -712,54 +1190,63 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Return01\" ; + mosim:startCondition ?startCondition ; + mosim:instructionID ?returnID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value \"shelf-v1 (1)\" . + mosim:value ?screwdriverObject . test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . + mosim:value \"ROOT\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?subject rdf:type mosim:MSceneObject ; - rdfs:label \"shelf-v1 (1)\" ; + ?agent rdf:type ajan:This ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?screwManualID, \":end+ 0.05\") AS ?startCondition) + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwdriverObject ; mosim:finalLocation ?target . ?target rdf:type mosim:FinalLocation ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; + mosim:id \"ROOT\" ; mosim:object ?object . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b400 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . @@ -775,16 +1262,92 @@ WHERE { ; ; rdfs:label "Retrieve(Object)"; - _:genid-524df1dd58a943f5984cb583a6633856-b537 . + _:genid-64f25be5d6034e66af719eba4856a993-b556 . -_:genid-524df1dd58a943f5984cb583a6633856-b401 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b405 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: +PREFIX test: -SELECT ?eventType +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint . + + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . + + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - VALUES ?eventType {\"PositioningFinished\"} + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . @@ -811,16 +1374,86 @@ WHERE { rdfs:label "Create Random IDs"; rdfs:comment "" . -_:genid-524df1dd58a943f5984cb583a6633856-b402 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b406 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: -PREFIX xsd: +PREFIX test: -SELECT ((xsd:int(?int) + 3) as ?port) +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Hand\" ; + mosim:actionName \"HandScrew01\" ; + mosim:instructionID ?handScrewID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:PositionConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:PositionConstraint mosim:key \"PositionConstraint\" ; + mosim:value ?insertConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject ; + mosim:insertConnection ?insertConnection . + + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . + + BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?insertLocation ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?insertConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . @@ -841,23 +1474,47 @@ WHERE { rdfs:comment ""; rdfs:label "Create Random IDs" . -_:genid-524df1dd58a943f5984cb583a6633856-b403 a ; - ; +_:genid-64f25be5d6034e66af719eba4856a993-b407 a , + ; + ; + "{\"id\":\"Idle Instruction\",\"title\":\"Idle Instruction\",\"description\":\"\",\"nodes\":[\"Action\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"cosim,host,port\",\"parameters\":[]}"; + """PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:mmu \"Pose/Idle\" . + test:Instruction mosim:actionName \"Idle\" . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +} +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}"""; """PREFIX mosim: +PREFIX rdf: +PREFIX test: -INSERT { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + test:Instruction mosim:mmu \"Pose/Idle\" . + test:Instruction mosim:actionName \"Idle\" . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . } WHERE { - BIND(RAND() AS ?rand) - - BIND(CONCAT(\"Retrieve03_ID\", STR(?rand)) AS ?retrieveID) - BIND(CONCAT(\"Place03_ID\", STR(?rand)) AS ?placeID) - BIND(CONCAT(\"Return01_ID\", STR(?rand)) AS ?returnID) - BIND(CONCAT(\"ScrewManual01_ID\", STR(?rand)) AS ?screwManualID) + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . @@ -878,17 +1535,6 @@ WHERE { rdfs:label "Delete IDs"; rdfs:comment "" . -_:genid-524df1dd58a943f5984cb583a6633856-b404 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - a ; false; @@ -907,9 +1553,16 @@ WHERE { rdfs:label "Save History"; rdfs:comment "" . -_:genid-524df1dd58a943f5984cb583a6633856-b405 a ; - ; - "" . +_:genid-64f25be5d6034e66af719eba4856a993-b408 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . a ; @@ -929,62 +1582,7 @@ _:genid-524df1dd58a943f5984cb583a6633856-b405 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b407 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve03\" ; - mosim:instructionID ?retrieveID ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:retrieveID ?retrieveID . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . - - - a ; - false; - rdfs:label "Save History"; - rdfs:comment "" . - -_:genid-524df1dd58a943f5984cb583a6633856-b408 a , +_:genid-64f25be5d6034e66af719eba4856a993-b409 a , ; ; """PREFIX ajan: @@ -996,27 +1594,24 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place03\" ; mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; mosim:constraint ?constraint . - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . - - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + test:Object mosim:key \"Object\" ; mosim:value ?screwdriverObject . - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?bound_id . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . @@ -1028,142 +1623,40 @@ CONSTRUCT { WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - + ?agent rdf:type ajan:This ; mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; mosim:tighteningTool ?screwdriverObject . - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) - - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . - } LIMIT 1 - } - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . - - - a , ; - rdfs:label "Retrieve_BT" . - -_:genid-524df1dd58a943f5984cb583a6633856-b409 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b410 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . - - - rdfs:label "Sequence"; - _:genid-524df1dd58a943f5984cb583a6633856-b578 . - -_:genid-524df1dd58a943f5984cb583a6633856-b411 a ; - ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?eventType -WHERE { - VALUES ?eventType {\"cycleEnd\"} -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b412 a ; - ; - """PREFIX mosim: - -DELETE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . -} -WHERE { mosim:RandomIDs mosim:retrieveID ?retrieveID ; mosim:placeID ?placeID ; - mosim:returnID ?returnID ; mosim:screwManualID ?screwManualID . -}""" . - - - a ; - rdfs:label "defaultSequence"; - rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b581 . - -_:genid-524df1dd58a943f5984cb583a6633856-b413 a ; - ; - """PREFIX mosim: -PREFIX rdf: + + BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . + ?bounderies rdf:type ; + mosim:constraint ?constraint . -_:genid-524df1dd58a943f5984cb583a6633856-b414 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object . -DELETE { - ?agent mosim:retrieving ?object . -} -INSERT { - ?agent mosim:inHand ?object . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:retrieving ?object . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b415 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b410 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -1176,21 +1669,21 @@ CONSTRUCT { test:Instruction mosim:mmu \"Object/Screw/Hand\" ; mosim:actionName \"HandScrew01\" ; - mosim:instructionID ?handScrewID ; - mosim:startCondition ?startCondition ; + mosim:instructionID \"HandScrew01_ID\" ; + mosim:startCondition \"Place02_ID:cycleEnd\" ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Handedness ; mosim:mmuProperty test:PositionConstraint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + mosim:value \"Screw_bigAnnotated (1)\" . test:Handedness mosim:key \"Handedness\" ; mosim:value \"right\" . test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value ?insertConnection . + mosim:value \"Smooth blind hole\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . @@ -1202,29 +1695,15 @@ CONSTRUCT { WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertConnection ?insertConnection . - - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . - - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) { SELECT ?constraint WHERE { - ?agent rdf:type ajan:This ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?insertLocation ; + rdfs:label \"shelf-v1 (1)\" ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:id ?insertConnection . + mosim:id \"Smooth blind hole\" . } LIMIT 1 } @@ -1244,46 +1723,123 @@ WHERE { mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b416 a ; + + a ; + false; + rdfs:label "Save History"; + rdfs:comment "" . + +_:genid-64f25be5d6034e66af719eba4856a993-b411 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"ROOT\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:placeing ?mSceneObject . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObject ; + mosim:finalLocation ?target . + + ?target rdf:type mosim:FinalLocation ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"ROOT\" ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + + + a , ; + rdfs:label "Retrieve_BT" . + +_:genid-64f25be5d6034e66af719eba4856a993-b412 a ; ; """PREFIX mosim: PREFIX rdf: PREFIX xsd: -SELECT ((xsd:int(?int) + 1) as ?port) +SELECT ((xsd:int(?int) + 3) as ?port) WHERE { ?a rdf:type mosim:Avatar . ?a mosim:clPort ?int . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b417 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . - -_:genid-524df1dd58a943f5984cb583a6633856-b418 a ; - ""; - "5" . + + rdfs:label "Sequence" . -_:genid-524df1dd58a943f5984cb583a6633856-b419 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b413 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: +PREFIX test: -SELECT ?eventType +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve03\" ; + mosim:instructionID ?retrieveID ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - VALUES ?eventType {\"initError\"} -}""" . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . -_:genid-524df1dd58a943f5984cb583a6633856-b420 a ; - ; - """ASK WHERE {?s ?p ?o} -""" . + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . - - a ; - rdfs:label "defaultSequence" . + mosim:RandomIDs mosim:retrieveID ?retrieveID . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . -_:genid-524df1dd58a943f5984cb583a6633856-b421 a , +_:genid-64f25be5d6034e66af719eba4856a993-b414 a , ; ; """PREFIX ajan: @@ -1296,34 +1852,25 @@ CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place02\" ; - mosim:startCondition ?startCondition ; + mosim:actionName \"Place03\" ; mosim:endCondition ?endCondition ; mosim:instructionID ?placeID ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Release ; mosim:mmuProperty test:TargetConstraint ; - mosim:mmuProperty test:ReferenceConstraint ; - mosim:constraint ?constraint_1 ; - mosim:constraint ?constraint_2 . + mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + mosim:value ?screwdriverObject . test:Release mosim:key \"Release\" ; mosim:value \"false\" . test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?insertConnection . - - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?bound_id . - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . + mosim:value ?bound_id . - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:object ?object_2 . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -1334,120 +1881,142 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertConnection ?insertConnection . + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . - BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) - BIND(CONCAT(?handScrewID, \":end+ 0.01\") AS ?endCondition) + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) - { SELECT ?constraint_1 + ?bounderies rdf:type ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object . + + { SELECT ?cosim WHERE { - ?agent rdf:type ajan:This ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?insertLocation ; - mosim:constraint ?constraint_1 . - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:id ?insertConnection . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } LIMIT 1 } - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . - ?bounderies rdf:type ; - mosim:constraint ?constraint_2 . + + a ; + rdfs:label "defaultSequence"; + rdfs:comment "" . - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object_2 . +_:genid-64f25be5d6034e66af719eba4856a993-b415 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b416 a ; + ; + """PREFIX mosim: + +DELETE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . +} +WHERE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . +}""" . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +_:genid-64f25be5d6034e66af719eba4856a993-b417 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b422 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b418 a ; ; """PREFIX mosim: PREFIX rdf: +PREFIX xsd: -SELECT ?eventType +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { - VALUES ?eventType {\"end\"} + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b423 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b419 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Locomotion/Walk\" ; - mosim:actionName \"Walk01\" ; - mosim:mmuProperty test:TargetProperty . - - test:TargetProperty mosim:key \"TargetID\" ; - mosim:value ?id . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +_:genid-64f25be5d6034e66af719eba4856a993-b420 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . - ?target rdf:type mosim:MSceneObject ; - rdfs:label \"WalkTarget\" ; - mosim:id ?id . +_:genid-64f25be5d6034e66af719eba4856a993-b421 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . - - a ; - rdfs:label "defaultSequence" . - -_:genid-524df1dd58a943f5984cb583a6633856-b424 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b422 a ; ; """PREFIX rdf: PREFIX ajan: PREFIX mosim: DELETE { - ?agent mosim:inHand ?object ; - mosim:placeing ?object . + ?agent mosim:tightening ?object . } WHERE { ?agent rdf:type ajan:This ; - mosim:inHand ?object ; - mosim:placeing ?object . + mosim:tightening ?object . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b425 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b423 a ; ; """PREFIX mosim: PREFIX rdf: @@ -1459,190 +2028,98 @@ WHERE { ?a mosim:clPort ?int . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b426 a ; - ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b427 a ; - ; - """DELETE { GRAPH ?g { ?s ?p ?o }} -WHERE { GRAPH ?g { ?s ?p ?o }}""" . + + a ; + rdfs:label "defaultSequence" . -_:genid-524df1dd58a943f5984cb583a6633856-b428 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b424 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +SELECT ?host ?port ?avatarId WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b429 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b425 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"CarryConstraint\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +PREFIX xsd: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:retrieving ?mSceneObject . - - ?bounderies rdf:type ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b430 a ; - "CONSTRUCT WHERE {?s ?p ?o}"; - . +_:genid-64f25be5d6034e66af719eba4856a993-b426 a ; + ""; + "5" . + + + a ; + rdfs:label "defaultSequence" . -_:genid-524df1dd58a943f5984cb583a6633856-b431 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b427 a ; ; """PREFIX mosim: +PREFIX rdf: -INSERT { - ?running mosim:nextTaskStep ?newTStep . -} +SELECT ?eventType WHERE { - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . - ?task mosim:step ?tStep . - ?operation mosim:step ?sStep . - - { SELECT (COUNT(?someStep)-1 as ?stepCount) - WHERE { - ?running mosim:runningTask ?currTask . - ?currTask a mosim:Task . - ?currTask mosim:operation ?nextOperation . - ?nextOperation mosim:step ?someStep . - } - } - - BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?newTStep) + VALUES ?eventType {\"initError\"} }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b432 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b428 a ; ; - """PREFIX rdfs: + """PREFIX mosim: PREFIX rdf: -PREFIX ajan: -PREFIX mosim: - -CONSTRUCT { - ?agent mosim:nextLocation ?targetID ; - mosim:carrying ?mSceneObject . -} +SELECT ?host ?port WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObject ; - mosim:finalLocation ?final . - - ?area rdf:type mosim:Area ; - mosim:hasChild ?final ; - mosim:hasChild ?target . - - ?target rdf:type mosim:WalkTarget ; - rdfs:label ?targetID . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b433 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b429 a ; ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX mosim: -PREFIX ajan: - -DELETE { - ?agent mosim:positioning ?mSceneObject . - - ?oldArea mosim:hasChild ?object . -} -INSERT { - ?newArea mosim:hasChild ?object . + """DELETE { + ?s ?p ?o . } WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . - - ?oldArea rdf:type mosim:Area; - mosim:hasChild ?object . - - ?object rdf:type mosim:MSceneObject; - rdfs:label ?mSceneObject ; - mosim:finalLocation ?final . - - ?newArea rdf:type mosim:Area; - mosim:hasChild ?final . + ?s ?p ?o . + ?s a . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b434 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b430 a ; ; """PREFIX mosim: -DELETE { - ?running mosim:nextTaskStep ?otStep . - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . -} -INSERT { - ?running mosim:runningOperation ?newOperation . - ?running mosim:runningTask ?newTask . -} +ASK WHERE { - ?running mosim:nextTaskStep ?otStep . ?running mosim:runningTask ?task . - ?task mosim:step ?tStep . - ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . ?operation mosim:step ?sStep . - BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + BIND (IF (?tStep = -1, 0, IF (?sStep > 0, ?tStep, ?tStep - 1)) AS ?otStep) + + { SELECT (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?currTask a mosim:Task . + ?currTask mosim:step ?otStep . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } + } + + BIND (IF (?tStep > ?otStep, ?stepCount, ?sStep - 1) AS ?newSStep) FILTER(?step = ?newSStep) FILTER(?ntStep = ?otStep) @@ -1651,10 +2128,13 @@ WHERE { ?newTask mosim:step ?ntStep . ?newTask mosim:operation ?newOperation . ?newOperation mosim:step ?step . -}""" . + ?newOperation mosim:type ?type . + + FILTER CONTAINS(?type,\"Tighten\") +} +""" . -_:genid-524df1dd58a943f5984cb583a6633856-b435 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b431 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -1665,24 +2145,21 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place03\" ; - mosim:startCondition ?startCondition ; - mosim:endCondition ?endCondition ; - mosim:instructionID ?placeID ; + test:Instruction mosim:mmu \"Object/Screw/Hand\" ; + mosim:actionName \"HandScrew01\" ; mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Release ; - mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:PositionConstraint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . + mosim:value \"Screw_bigAnnotated (1)\" . - test:Release mosim:key \"Release\" ; - mosim:value \"false\" . + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?bound_id . + test:PositionConstraint mosim:key \"PositionConstraint\" ; + mosim:value \"Smooth blind hole\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . @@ -1695,25 +2172,21 @@ WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) - BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) - - ?bounderies rdf:type ; - mosim:constraint ?constraint . + { SELECT ?constraint + WHERE { + ?subject rdf:type mosim:MSceneObject ; + rdfs:label \"shelf-v1 (1)\" ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"Smooth blind hole\" . + } LIMIT 1 + } ?constraint rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object . + mosim:object ?object . - { SELECT ?cosim + { SELECT ?cosim WHERE { ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -1726,67 +2199,162 @@ WHERE { mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b436 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b432 a ; ; - """PREFIX rdf: + """PREFIX mosim: +PREFIX rdf: + +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b433 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 1) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b434 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b435 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: -PREFIX ajan: +PREFIX rdf: +PREFIX test: -DELETE { - ?agent mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve02\" ; + mosim:instructionID \"Retrieve02_ID\" ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value \"Screw_bigAnnotated (1)\" . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b437 a ; - "1"^^xsd:int; - _:genid-524df1dd58a943f5984cb583a6633856-b438 . +_:genid-64f25be5d6034e66af719eba4856a993-b436 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . -_:genid-524df1dd58a943f5984cb583a6633856-b438 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b437 a ; ; - """ + """PREFIX mosim: PREFIX rdf: -PREFIX mosim: +PREFIX xsd: -SELECT ?intValue +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { - ?operation rdf:type mosim:Operation . - ?operation mosim:type ?type . - BIND ( - IF ( CONTAINS(?type,\"Position\"), 1, - IF ( CONTAINS(?type,\"Insert\"), 2, - IF ( CONTAINS(?type,\"Press\"), 3, - IF ( CONTAINS(?type,\"Tighten\"), 4, - IF ( CONTAINS(?type,\"Check\"), 5, - 0 ))))) as ?intValue) - { SELECT ?operation - WHERE { - ?running mosim:runningOperation ?operation . - }} + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b439 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b438 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"initError\"} +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b439 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"PositioningFinished\"} +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b440 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . +}""" . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . +_:genid-64f25be5d6034e66af719eba4856a993-b441 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b440 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b442 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b443 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b444 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -1796,141 +2364,269 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . + mosim:mmu \"Locomotion/Walk\" ; + mosim:actionName \"Walk00\" ; + mosim:mmuProperty test:TargetProperty . + + test:TargetProperty mosim:key \"TargetID\" ; + mosim:value ?id . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?agent mosim:nextLocation ?targetID . + + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?target rdf:type mosim:MSceneObject ; + rdfs:label ?targetID ; + mosim:id ?id . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b445 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . + +_:genid-64f25be5d6034e66af719eba4856a993-b446 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"PositioningFinished\"} +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b447 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:finalEvent \"PositioningFinished\" ; + mosim:mmu \"Object/Carry\" ; + mosim:actionName \"Carry01\" ; + mosim:mmuProperty test:Object . test:Object mosim:key \"Object\" ; - mosim:value \"shelf-v1 (1)\" . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"CarryConstraint\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + mosim:value ?mSceneObject . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?bounderies rdf:type ; - mosim:constraint ?constraint . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + ?agent rdf:type ajan:This ; + mosim:retrieving ?mSceneObject . ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b441 a ; - ""; - "5" . +_:genid-64f25be5d6034e66af719eba4856a993-b448 a ; + "1"^^xsd:int; + _:genid-64f25be5d6034e66af719eba4856a993-b449 . -_:genid-524df1dd58a943f5984cb583a6633856-b442 a ; - "CONSTRUCT WHERE {?s ?p ?o}"; - . +_:genid-64f25be5d6034e66af719eba4856a993-b449 a ; + ; + """ +PREFIX rdf: +PREFIX mosim: -_:genid-524df1dd58a943f5984cb583a6633856-b443 a ; - "CONSTRUCT WHERE {?s ?p ?o}"; - . +SELECT (count(?operation) as ?intValue) +WHERE { + ?operation rdf:type mosim:Operation . + ?some mosim:runningOperation ?running . + FILTER (?operation != ?running) +}""" . -_:genid-524df1dd58a943f5984cb583a6633856-b444 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b450 a ; ; """PREFIX mosim: PREFIX rdf: +PREFIX xsd: -SELECT ?port +SELECT ((xsd:int(?int) + 3) as ?port) WHERE { ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . + ?a mosim:clPort ?int . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b445 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b451 a ; ; """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port + +DELETE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . +} WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b446 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b452 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 1) as ?port) +SELECT ?port WHERE { ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?a mosim:clPort ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b447 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b453 a ; ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX ajan: + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: +PREFIX rdf: +PREFIX test: CONSTRUCT { - ?agent mosim:placeing ?mSceneObject . + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Hand\" ; + mosim:actionName \"HandScrew01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:PositionConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:PositionConstraint mosim:key \"PositionConstraint\" ; + mosim:value ?insertConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . + mosim:inserting ?mSceneObject ; + mosim:insertConnection ?insertConnection . + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?insertLocation ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?insertConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b448 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b454 a ; ; - """PREFIX rdf: + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: -PREFIX ajan: +PREFIX rdf: +PREFIX test: CONSTRUCT { - ?agent mosim:tightening ?mSceneObject ; - mosim:tighteningTool ?screwdriverObject ; - mosim:tighteningConnection \"Round threaded shaft\" . + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Carry\" . + test:Instruction mosim:actionName \"Carry01\" . + test:Instruction mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" . + test:Object mosim:value \"shelf-v1 (1)\" . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . } WHERE { - ?agent rdf:type ajan:This . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . - ?running mosim:runningOperation ?operation . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . - ?operation rdf:type mosim:Operation ; - mosim:part ?part ; - mosim:tool ?screwdriverObject . - - ?instance rdf:type mosim:Instance ; - mosim:instanceId ?part ; - mosim:type ?mSceneObject . +_:genid-64f25be5d6034e66af719eba4856a993-b455 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +DELETE { + ?agent mosim:location ?target ; + mosim:nextLocation ?newTarget . +} +INSERT { + ?agent mosim:location ?newTarget . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:location ?target ; + mosim:nextLocation ?newTarget . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b449 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b456 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 1) as ?port) +SELECT ?eventType WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + VALUES ?eventType {\"end\"} }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b450 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b457 a ; ; """PREFIX rdf: PREFIX mosim: @@ -1954,30 +2650,7 @@ WHERE { BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b451 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b452 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?scene rdf:type mosim:Registry . - ?scene mosim:host ?host . - ?scene mosim:port ?port . -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b453 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b458 a ; ; """PREFIX rdf: PREFIX ajan: @@ -1989,92 +2662,100 @@ WHERE { mosim:location ?target ; mosim:nextLocation ?target . } - """ . a ; rdfs:label "defaultSequence" . -_:genid-524df1dd58a943f5984cb583a6633856-b454 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b459 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"cycleEnd\"} +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b460 a , + ; ; """PREFIX rdf: -PREFIX ajan: PREFIX mosim: +PREFIX ajan: -DELETE { - ?agent mosim:location ?target ; - mosim:nextLocation ?newTarget ; - mosim:carrying ?object . -} -INSERT { - ?agent mosim:location ?newTarget . +CONSTRUCT { + ?agent mosim:tightening ?mSceneObject ; + mosim:tighteningTool ?screwdriverObject ; + mosim:tighteningConnection \"Round threaded shaft\" . } WHERE { - ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?newTarget; - mosim:carrying ?object . + ?agent rdf:type ajan:This . + + ?running mosim:runningOperation ?operation . + + ?operation rdf:type mosim:Operation ; + mosim:part ?part ; + mosim:tool ?screwdriverObject . + + ?instance rdf:type mosim:Instance ; + mosim:instanceId ?part ; + mosim:type ?mSceneObject . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b455 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . -}""" . +_:genid-64f25be5d6034e66af719eba4856a993-b461 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . -_:genid-524df1dd58a943f5984cb583a6633856-b456 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b462 a ; ; - """PREFIX ajan: + """PREFIX mosim: PREFIX rdf: -PREFIX test: -PREFIX mosim: - -INSERT { - ?agent mosim:runningTask test:Task . - ?agent mosim:runningOperation test:Operation . - test:Task mosim:step -1 . - test:Task a mosim:Task . - test:Task mosim:operation test:Operation . - - test:Operation mosim:step -1 . - test:Operation a mosim:Operation . - - ?agent mosim:hand \"Right\" . - ?agent mosim:location \"material_station_target\" . -} +SELECT ?host ?port ?avatarId WHERE { - ?agent rdf:type ajan:This . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b457 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b463 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +PREFIX xsd: + +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b458 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b464 a ; ; """PREFIX mosim: PREFIX rdf: PREFIX xsd: -SELECT ((xsd:int(?int) + 3) as ?port) +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { ?a rdf:type mosim:Avatar . ?a mosim:clPort ?int . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b459 a , + + a ; + ; + ; + true; + rdfs:label "Return(Object)"; + rdfs:comment ""; + _:genid-64f25be5d6034e66af719eba4856a993-b559 . + +_:genid-64f25be5d6034e66af719eba4856a993-b465 a , ; ; """PREFIX ajan: @@ -2084,105 +2765,100 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Screw/Hand\" ; - mosim:actionName \"HandScrew01\" ; - mosim:instructionID \"HandScrew01_ID\" ; - mosim:startCondition \"Place02_ID:cycleEnd\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:PositionConstraint ; - mosim:constraint ?constraint . + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Locomotion/Walk\" ; + mosim:actionName \"Walk01\" ; + mosim:mmuProperty test:TargetProperty . - test:Object mosim:key \"Object\" ; - mosim:value \"Screw_bigAnnotated (1)\" . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value \"Smooth blind hole\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + test:TargetProperty mosim:key \"TargetID\" ; + mosim:value ?id . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - { SELECT ?constraint - WHERE { - ?subject rdf:type mosim:MSceneObject ; - rdfs:label \"shelf-v1 (1)\" ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"Smooth blind hole\" . - } LIMIT 1 - } + ?target rdf:type mosim:MSceneObject ; + rdfs:label \"WalkTarget\" ; + mosim:id ?id . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } +_:genid-64f25be5d6034e66af719eba4856a993-b466 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: + +INSERT { + ?agent mosim:history ?history . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:positioned ?mSceneObject ; + mosim:executedTask ?task . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . - - a ; - ; - ; - true; - rdfs:label "Return(Object)"; - rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b540 . + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) +}""" . -_:genid-524df1dd58a943f5984cb583a6633856-b460 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b467 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId +SELECT ?host ?port WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b461 a ; - "1"^^xsd:int; - _:genid-524df1dd58a943f5984cb583a6633856-b462 . - -_:genid-524df1dd58a943f5984cb583a6633856-b462 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b468 a ; ; - """ -PREFIX rdf: + """PREFIX rdf: PREFIX mosim: +PREFIX ajan: -SELECT (count(?operation) as ?intValue) +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:placed ?mSceneObject ; + mosim:executedTask ?task . +} WHERE { - ?operation rdf:type mosim:Operation . - ?some mosim:runningOperation ?running . - FILTER (?operation != ?running) + ?agent mosim:placeing ?mSceneObject . + + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b469 a , + ; + ; + """SELECT ?requestURI +WHERE { + VALUES ?requestURI {\"https://teaching-taskeditor.aitoc.eu/api.php?action=getTaskList&station=127&format=AITOCJSON&token=feg5RNmKunfWODU9sfIeyMEIdLVHY8\"} }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b463 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b470 a ; ; """PREFIX mosim: PREFIX rdf: @@ -2193,76 +2869,77 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b464 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b471 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """ASK WHERE {?s ?p ?o} +""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b472 a , + ; + ; + """PREFIX rdfs: PREFIX rdf: -PREFIX test: +PREFIX ajan: +PREFIX mosim: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Locomotion/Walk\" ; - mosim:actionName \"Walk01\" ; - mosim:mmuProperty test:TargetProperty . - - test:TargetProperty mosim:key \"TargetID\" ; - mosim:value ?id . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?agent mosim:nextLocation ?targetID . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent mosim:nextLocation ?newTarget . - - ?target rdf:type mosim:MSceneObject ; - rdfs:label ?newTarget ; - mosim:id ?id . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObject . + + ?area rdf:type mosim:Area ; + mosim:hasChild ?subject ; + mosim:hasChild ?target . + + ?target rdf:type mosim:WalkTarget ; + rdfs:label ?targetID . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b465 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b473 a , + ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX rdfs: PREFIX rdf: -PREFIX test: +PREFIX ajan: +PREFIX mosim: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:finalEvent \"PositioningFinished\" ; - mosim:mmu \"Object/Carry\" ; - mosim:actionName \"Carry01\" ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value \"shelf-v1 (1)\" . + ?agent mosim:retrieving ?mSceneObject . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b474 a , + ; + ; + """PREFIX ajan: +PREFIX rdf: +PREFIX mosim: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +CONSTRUCT { + ?agent mosim:positioning ?mSceneObject . } WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . + ?agent rdf:type ajan:This . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?running mosim:runningOperation ?operation . + + ?operation rdf:type mosim:Operation ; + mosim:part ?part . + + ?instance rdf:type mosim:Instance ; + mosim:instanceId ?part ; + mosim:type ?mSceneObject . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b466 a , +_:genid-64f25be5d6034e66af719eba4856a993-b475 a , ; ; """PREFIX ajan: @@ -2273,13 +2950,20 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve02\" ; - mosim:instructionID ?retrieveID ; - mosim:mmuProperty test:Object . + mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + mosim:value \"shelf-v1 (1)\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"ROOT\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -2289,157 +2973,173 @@ WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject . - - mosim:RandomIDs mosim:retrieveID ?retrieveID . + ?subject rdf:type mosim:MSceneObject ; + rdfs:label \"shelf-v1 (1)\" ; + mosim:finalLocation ?target . + + ?target rdf:type mosim:FinalLocation ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b467 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b476 a ; ; """PREFIX mosim: PREFIX rdf: SELECT ?host ?port WHERE { - ?scene rdf:type mosim:Registry . - ?scene mosim:host ?host . - ?scene mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b468 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b477 a ; ; - """PREFIX ajan: -PREFIX rdfs: + """PREFIX rdf: +PREFIX ajan: PREFIX mosim: -PREFIX rdf: -PREFIX test: -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . +DELETE { + ?agent mosim:inHand ?object ; + mosim:placeing ?object . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:inHand ?object ; + mosim:placeing ?object . +}""" . - test:Instruction mosim:mmu \"Object/Screw/Hand\" ; - mosim:actionName \"HandScrew01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:PositionConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + + a ; + ; + rdfs:label "HandleEvent"; + rdfs:comment ""; + _:genid-64f25be5d6034e66af719eba4856a993-b488 . - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . +_:genid-64f25be5d6034e66af719eba4856a993-b478 a ; + ; + """PREFIX mosim: +PREFIX rdf: - test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value ?insertConnection . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"cycleEnd\"} +}""" . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-64f25be5d6034e66af719eba4856a993-b479 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertConnection ?insertConnection . +_:genid-64f25be5d6034e66af719eba4856a993-b480 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?insertLocation ; - mosim:constraint ?constraint . +INSERT { + ?agent mosim:history ?history . - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?insertConnection . - } LIMIT 1 - } - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:inserted ?mSceneObject ; + mosim:insertedLocation ?insertLocation ; + mosim:insertedConnection ?insertConnection ; + mosim:executedTask ?task . +} +WHERE { + ?agent mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } + ?running mosim:runningTask ?task . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b469 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b481 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId +SELECT ?host ?port WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b470 a ; + + a ; + ; + rdfs:comment ""; + rdfs:label "GetBoundary(Place)"; + _:genid-64f25be5d6034e66af719eba4856a993-b431 . + +_:genid-64f25be5d6034e66af719eba4856a993-b482 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 1) as ?port) +SELECT ?port WHERE { ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?a mosim:clPort ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b471 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b483 a ; ; - """ASK WHERE {?s ?p ?o} -""" . + """DELETE { GRAPH ?g { ?s ?p ?o }} +WHERE { GRAPH ?g { ?s ?p ?o }}""" . + + + a ; + true; + rdfs:comment ""; + rdfs:label "PrioParallel" . -_:genid-524df1dd58a943f5984cb583a6633856-b472 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b484 a , + ; ; - """DELETE { - ?s ?p ?o . + """PREFIX rdfs: +PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +CONSTRUCT { + ?agent mosim:placeing ?mSceneObject . } WHERE { - ?s ?p ?o . - ?s a . + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b473 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b485 a ; ; - """SELECT ?requestURI + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port WHERE { - VALUES ?requestURI {\"https://teaching-taskeditor.aitoc.eu/api.php?action=getTaskList&station=127&format=AITOCJSON&token=feg5RNmKunfWODU9sfIeyMEIdLVHY8\"} + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . - - a ; - ; - rdfs:label "HandleEvent"; - rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b481 . - -_:genid-524df1dd58a943f5984cb583a6633856-b474 a , +_:genid-64f25be5d6034e66af719eba4856a993-b486 a , ; ; """PREFIX ajan: @@ -2450,41 +3150,44 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:finalEvent \"PositioningFinished\" ; - mosim:mmu \"Object/Carry\" ; - mosim:actionName \"Carry01\" ; - mosim:mmuProperty test:Object . + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; mosim:value ?mSceneObject . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"CarryConstraint\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . } WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:carrying ?mSceneObject . + mosim:retrieving ?mSceneObject . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + ?bounderies rdf:type ; + mosim:constraint ?constraint . -_:genid-524df1dd58a943f5984cb583a6633856-b475 a ; - ; - """PREFIX mosim: -PREFIX rdf: + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -SELECT ?eventType -WHERE { - VALUES ?eventType {\"end\"} + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b476 a , +_:genid-64f25be5d6034e66af719eba4856a993-b487 a , ; ; """PREFIX ajan: @@ -2515,36 +3218,11 @@ WHERE { mosim:type ?insertLocation . }""" . - - a ; - ; - rdfs:comment ""; - rdfs:label "GetBoundary(Place)"; - _:genid-524df1dd58a943f5984cb583a6633856-b487 . - -_:genid-524df1dd58a943f5984cb583a6633856-b477 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b488 a ; "CONSTRUCT WHERE { ?s ?p ?o }"; . - - a ; - true; - rdfs:comment ""; - rdfs:label "PrioParallel"; - _:genid-524df1dd58a943f5984cb583a6633856-b559 . - -_:genid-524df1dd58a943f5984cb583a6633856-b478 a ; - ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b479 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b489 a ; ; """PREFIX mosim: PREFIX rdf: @@ -2558,7 +3236,18 @@ WHERE { ?avatar mosim:id ?avatarId . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b480 a ; + + a ; + ; + rdfs:label "HandleEvent"; + rdfs:comment ""; + _:genid-64f25be5d6034e66af719eba4856a993-b490 . + +_:genid-64f25be5d6034e66af719eba4856a993-b490 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . + +_:genid-64f25be5d6034e66af719eba4856a993-b491 a ; ; """PREFIX mosim: PREFIX rdf: @@ -2569,312 +3258,317 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b481 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; +_:genid-64f25be5d6034e66af719eba4856a993-b492 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 1) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + + + a ; + true; + rdfs:comment ""; + rdfs:label "Parallel"; + _:genid-64f25be5d6034e66af719eba4856a993-b578 . + +_:genid-64f25be5d6034e66af719eba4856a993-b493 a ; + "CONSTRUCT WHERE {?s ?p ?o}"; . -_:genid-524df1dd58a943f5984cb583a6633856-b482 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b494 a ; ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: + """PREFIX mosim: +PREFIX rdf: -DELETE { - ?agent mosim:location ?target ; - mosim:nextLocation ?newTarget . -} -INSERT { - ?agent mosim:location ?newTarget . -} +SELECT ?port WHERE { - ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?newTarget . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b483 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b495 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: + """PREFIX mosim: -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . +INSERT { + ?running mosim:nextTaskStep ?newTStep . +} +WHERE { + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + { SELECT (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?currTask . + ?currTask a mosim:Task . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } + } - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . + BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?newTStep) +}""" . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-64f25be5d6034e66af719eba4856a993-b496 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?scene rdf:type mosim:Registry . + ?scene mosim:host ?host . + ?scene mosim:port ?port . +}""" . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +_:genid-64f25be5d6034e66af719eba4856a993-b497 a , + ; + ; + """PREFIX rdfs: +PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +CONSTRUCT { + ?agent mosim:nextLocation ?targetID ; + mosim:carrying ?mSceneObject . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - ?agent rdf:type ajan:This ; - mosim:placeing ?mSceneObject . - + mosim:positioning ?mSceneObject . + ?subject rdf:type mosim:MSceneObject ; rdfs:label ?mSceneObject ; - mosim:finalLocation ?target . - - ?target rdf:type mosim:FinalLocation ; - mosim:constraint ?constraint . + mosim:finalLocation ?final . - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"ROOT\" ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?area rdf:type mosim:Area ; + mosim:hasChild ?final ; + mosim:hasChild ?target . + + ?target rdf:type mosim:WalkTarget ; + rdfs:label ?targetID . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b484 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b498 a ; ; + "{\"id\":\"Query Host\",\"title\":\"Query Host\",\"description\":\"\",\"nodes\":[\"All\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"host,port,cosim,type\",\"parameters\":[{\"label\":\"Host Type\",\"variable\":\"type\",\"variableBinding\":\"mosim:Scene\",\"title\":\"Host Type\",\"mode\":\"Dropdown\",\"note\":null,\"sparql\":{\"query\":\"undefined\"},\"possibleValues\":[{\"label\":\"CoSimulator\",\"dataValue\":\"mosim:CoSimulator\"},{\"label\":\"Registry\",\"dataValue\":\"mosim:Registry\"},{\"label\":\"Scene\",\"dataValue\":\"mosim:Scene\"}]}]}"; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type ?type . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}"""; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId +SELECT ?host ?port WHERE { - ?cosim rdf:type mosim:CoSimulator . + ?cosim rdf:type mosim:Scene . ?cosim mosim:host ?host . ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . }""" . - - a ; - ; - rdfs:label "HandleEvent"; - rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b477 . - -_:genid-524df1dd58a943f5984cb583a6633856-b485 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b499 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 2) as ?port) +SELECT ?host ?port ?avatarId WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . -_:genid-524df1dd58a943f5984cb583a6633856-b486 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . - - a ; - true; - rdfs:comment ""; - rdfs:label "Parallel"; - _:genid-524df1dd58a943f5984cb583a6633856-b551 . - -_:genid-524df1dd58a943f5984cb583a6633856-b487 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b500 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX rdfs: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Screw/Hand\" ; - mosim:actionName \"HandScrew01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:PositionConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value \"Screw_bigAnnotated (1)\" . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value \"Smooth blind hole\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . +PREFIX mosim: +PREFIX ajan: - { SELECT ?constraint - WHERE { - ?subject rdf:type mosim:MSceneObject ; - rdfs:label \"shelf-v1 (1)\" ; - mosim:constraint ?constraint . +DELETE { + ?agent mosim:positioning ?mSceneObject . - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"Smooth blind hole\" . - } LIMIT 1 - } - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + ?oldArea mosim:hasChild ?object . +} +INSERT { + ?newArea mosim:hasChild ?object . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } + ?oldArea rdf:type mosim:Area; + mosim:hasChild ?object . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?object rdf:type mosim:MSceneObject; + rdfs:label ?mSceneObject ; + mosim:finalLocation ?final . + + ?newArea rdf:type mosim:Area; + mosim:hasChild ?final . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b488 a ; + + a ; + rdfs:label "defaultPriority" . + +_:genid-64f25be5d6034e66af719eba4856a993-b501 a ; ; - """PREFIX ajan: -PREFIX rdfs: + """PREFIX rdf: PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:finalEvent \"PositioningFinished\" ; - mosim:mmu \"Object/Carry\" ; - mosim:actionName \"Carry01\" ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . +PREFIX ajan: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:walkFrom ?location ; + mosim:walkTo ?targetID ; + mosim:executedTask ?task . } WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:retrieving ?mSceneObject . + ?agent mosim:location ?location ; + mosim:nextLocation ?targetID . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b489 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b502 a ; + ; + "" . + +_:genid-64f25be5d6034e66af719eba4856a993-b503 a ; ; """PREFIX mosim: PREFIX rdf: +PREFIX xsd: -SELECT ?port +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . + ?a mosim:clPort ?int . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b490 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b504 a ; ; """PREFIX mosim: DELETE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . + ?running mosim:nextTaskStep ?otStep . + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . +} +INSERT { + ?running mosim:runningOperation ?newOperation . + ?running mosim:runningTask ?newTask . } WHERE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . + ?running mosim:nextTaskStep ?otStep . + ?running mosim:runningTask ?task . + ?task mosim:step ?tStep . + + ?running mosim:runningOperation ?operation . + ?operation mosim:step ?sStep . + + BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + + FILTER(?step = ?newSStep) + FILTER(?ntStep = ?otStep) + + ?newTask a mosim:Task . + ?newTask mosim:step ?ntStep . + ?newTask mosim:operation ?newOperation . + ?newOperation mosim:step ?step . +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b505 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: + +DELETE { + ?agent mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b491 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b506 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port + +SELECT ?port WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b492 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b507 a ; + "1"^^xsd:int; + _:genid-64f25be5d6034e66af719eba4856a993-b508 . + +_:genid-64f25be5d6034e66af719eba4856a993-b508 a ; ; - "{\"id\":\"Idle Instruction\",\"title\":\"Idle Instruction\",\"description\":\"\",\"nodes\":[\"Action\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"cosim,host,port\",\"parameters\":[]}"; - """PREFIX mosim: + """ PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:mmu \"Pose/Idle\" . - test:Instruction mosim:actionName \"Idle\" . +PREFIX mosim: - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -} +SELECT ?intValue WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}"""; + ?operation rdf:type mosim:Operation . + ?operation mosim:type ?type . + BIND ( + IF ( CONTAINS(?type,\"Position\"), 1, + IF ( CONTAINS(?type,\"Insert\"), 2, + IF ( CONTAINS(?type,\"Press\"), 3, + IF ( CONTAINS(?type,\"Tighten\"), 4, + IF ( CONTAINS(?type,\"Check\"), 5, + 0 ))))) as ?intValue) + { SELECT ?operation + WHERE { + ?running mosim:runningOperation ?operation . + }} +}""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b509 a ; + ; """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Pose/Idle\" . - test:Instruction mosim:actionName \"Idle\" . - +SELECT ?host ?port ?avatarId +WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . -} -WHERE { + ?avatar rdf:type mosim:Avatar . ?avatar mosim:id ?avatarId . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b493 a , +_:genid-64f25be5d6034e66af719eba4856a993-b510 a , ; ; """PREFIX ajan: @@ -2951,162 +3645,120 @@ WHERE { mosim:host ?host ; mosim:port ?port . } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b494 a ; - ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: - -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:positioned ?mSceneObject ; - mosim:executedTask ?task . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . - - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) -}""" . - - - a ; - rdfs:label "defaultPriority"; - _:genid-524df1dd58a943f5984cb583a6633856-b563 . - -_:genid-524df1dd58a943f5984cb583a6633856-b495 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: - -DELETE { - ?agent mosim:tightening ?object . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?object . -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b496 a ; - ; - "{\"id\":\"Query Host\",\"title\":\"Query Host\",\"description\":\"\",\"nodes\":[\"All\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"host,port,cosim,type\",\"parameters\":[{\"label\":\"Host Type\",\"variable\":\"type\",\"variableBinding\":\"mosim:Scene\",\"title\":\"Host Type\",\"mode\":\"Dropdown\",\"note\":null,\"sparql\":{\"query\":\"undefined\"},\"possibleValues\":[{\"label\":\"CoSimulator\",\"dataValue\":\"mosim:CoSimulator\"},{\"label\":\"Registry\",\"dataValue\":\"mosim:Registry\"},{\"label\":\"Scene\",\"dataValue\":\"mosim:Scene\"}]}]}"; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type ?type . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}"""; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:Scene . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b497 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b498 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b511 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 2) as ?port) +SELECT ?host ?port ?avatarId WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b499 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b512 a ; ; """PREFIX rdf: -PREFIX mosim: PREFIX ajan: +PREFIX mosim: +DELETE { + ?agent mosim:location ?target ; + mosim:nextLocation ?newTarget ; + mosim:carrying ?object . +} INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:inserted ?mSceneObject ; - mosim:insertedLocation ?insertLocation ; - mosim:insertedConnection ?insertConnection ; - mosim:executedTask ?task . + ?agent mosim:location ?newTarget . } WHERE { - ?agent mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . + ?agent rdf:type ajan:This ; + mosim:location ?target ; + mosim:nextLocation ?newTarget; + mosim:carrying ?object . +}""" . - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) +_:genid-64f25be5d6034e66af719eba4856a993-b513 a ; + ; + """PREFIX mosim: + +INSERT { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . +} +WHERE { + BIND(RAND() AS ?rand) - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) + BIND(CONCAT(\"Retrieve02_ID\", STR(?rand)) AS ?retrieveID) + BIND(CONCAT(\"Place02_ID\", STR(?rand)) AS ?placeID) + BIND(CONCAT(\"HandScrew01_ID\", STR(?rand)) AS ?handScrewID) }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b500 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b514 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +PREFIX xsd: + +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b501 a , - ; +_:genid-64f25be5d6034e66af719eba4856a993-b515 a , + ; ; """PREFIX ajan: -PREFIX rdf: +PREFIX rdfs: PREFIX mosim: +PREFIX rdf: +PREFIX test: CONSTRUCT { - ?agent mosim:positioning ?mSceneObject . + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Locomotion/Walk\" ; + mosim:actionName \"Walk01\" ; + mosim:mmuProperty test:TargetProperty . + + test:TargetProperty mosim:key \"TargetID\" ; + mosim:value ?id . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { - ?agent rdf:type ajan:This . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - ?running mosim:runningOperation ?operation . + ?agent mosim:nextLocation ?newTarget . - ?operation rdf:type mosim:Operation ; - mosim:part ?part . - - ?instance rdf:type mosim:Instance ; - mosim:instanceId ?part ; - mosim:type ?mSceneObject . + ?target rdf:type mosim:MSceneObject ; + rdfs:label ?newTarget ; + mosim:id ?id . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b502 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b516 a ; + ; + """ASK WHERE {?s ?p ?o} +""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b517 a ; ; """PREFIX rdf: PREFIX mosim: @@ -3117,13 +3769,15 @@ INSERT { ?history rdf:type mosim:HistoryPoint ; mosim:date ?date ; - mosim:walkFrom ?location ; - mosim:walkTo ?targetID ; + mosim:walkFrom ?targetID ; + mosim:walkTo ?location ; + mosim:carried ?mSceneObject ; mosim:executedTask ?task . } WHERE { - ?agent mosim:location ?location ; - mosim:nextLocation ?targetID . + ?agent mosim:nextLocation ?targetID ; + mosim:location ?location ; + mosim:carrying ?mSceneObject . ?running mosim:runningTask ?task . @@ -3132,84 +3786,89 @@ WHERE { BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b503 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b518 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: +PREFIX test: -SELECT ?eventType -WHERE { - VALUES ?eventType {\"initError\"} -}""" . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value \"shelf-v1 (1)\" . -_:genid-524df1dd58a943f5984cb583a6633856-b504 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"CarryConstraint\" . -_:genid-524df1dd58a943f5984cb583a6633856-b505 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -SELECT ((xsd:int(?int) + 3) as ?port) + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . - -_:genid-524df1dd58a943f5984cb583a6633856-b506 a ; - ; - "" . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . -_:genid-524df1dd58a943f5984cb583a6633856-b507 a ; - ; - """PREFIX mosim: + ?bounderies rdf:type ; + mosim:constraint ?constraint . -INSERT { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . -} -WHERE { - BIND(RAND() AS ?rand) - - BIND(CONCAT(\"Retrieve02_ID\", STR(?rand)) AS ?retrieveID) - BIND(CONCAT(\"Place02_ID\", STR(?rand)) AS ?placeID) - BIND(CONCAT(\"HandScrew01_ID\", STR(?rand)) AS ?handScrewID) -}""" . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -_:genid-524df1dd58a943f5984cb583a6633856-b508 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b509 a ; +_:genid-64f25be5d6034e66af719eba4856a993-b519 a ; + ""; + "5" . + + + a ; + ; + ; + true; + rdfs:label "Walk(Assembly)"; + rdfs:comment ""; + _:genid-64f25be5d6034e66af719eba4856a993-b536 . + + + a ; + rdfs:label "defaultSequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b524 . + +_:genid-64f25be5d6034e66af719eba4856a993-b520 a ; ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: -SELECT ((xsd:int(?int) + 2) as ?port) +ASK WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + ?agent rdf:type ajan:This ; + mosim:location ?target ; + mosim:nextLocation ?target . +} + +""" . + +_:genid-64f25be5d6034e66af719eba4856a993-b521 a ; + "CONSTRUCT WHERE {?s ?p ?o}"; + . -_:genid-524df1dd58a943f5984cb583a6633856-b510 a , +_:genid-64f25be5d6034e66af719eba4856a993-b522 a , ; ; """PREFIX ajan: @@ -3219,41 +3878,89 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve02\" ; - mosim:instructionID \"Retrieve02_ID\" ; - mosim:mmuProperty test:Object . + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint . - test:Object mosim:key \"Object\" ; - mosim:value \"Screw_bigAnnotated (1)\" . + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . + + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) -_:genid-524df1dd58a943f5984cb583a6633856-b511 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-524df1dd58a943f5984cb583a6633856-b512 a ; + + a ; + rdfs:comment ""; + rdfs:label "defaultSequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b527 . + +_:genid-64f25be5d6034e66af719eba4856a993-b523 a ; ; """PREFIX mosim: PREFIX rdf: @@ -3264,350 +3971,311 @@ WHERE { ?cosim mosim:port ?port . }""" . - - a ; - ; - ; - true; - rdfs:label "Walk(Assembly)"; - rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b522 . - - - a ; - _:genid-524df1dd58a943f5984cb583a6633856-b513; - rdfs:label "defaultSequence" . - -_:genid-524df1dd58a943f5984cb583a6633856-b513 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b514 . - -_:genid-524df1dd58a943f5984cb583a6633856-b514 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b515 . - -_:genid-524df1dd58a943f5984cb583a6633856-b515 rdf:first ; - rdf:rest rdf:nil . - - - a ; - _:genid-524df1dd58a943f5984cb583a6633856-b516; - rdfs:comment ""; - rdfs:label "defaultSequence" . - -_:genid-524df1dd58a943f5984cb583a6633856-b516 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b517 . +_:genid-64f25be5d6034e66af719eba4856a993-b524 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b525 . -_:genid-524df1dd58a943f5984cb583a6633856-b517 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b518 . +_:genid-64f25be5d6034e66af719eba4856a993-b525 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b526 . -_:genid-524df1dd58a943f5984cb583a6633856-b518 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b519 . - -_:genid-524df1dd58a943f5984cb583a6633856-b519 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b520 . - -_:genid-524df1dd58a943f5984cb583a6633856-b520 rdf:first ; - rdf:rest rdf:nil . - - - _:genid-524df1dd58a943f5984cb583a6633856-b521 . - -_:genid-524df1dd58a943f5984cb583a6633856-b521 rdf:first _:genid-524df1dd58a943f5984cb583a6633856-b483; +_:genid-64f25be5d6034e66af719eba4856a993-b526 rdf:first ; rdf:rest rdf:nil . -_:genid-524df1dd58a943f5984cb583a6633856-b522 rdf:first _:genid-524df1dd58a943f5984cb583a6633856-b464; - rdf:rest rdf:nil . +_:genid-64f25be5d6034e66af719eba4856a993-b527 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b528 . - - _:genid-524df1dd58a943f5984cb583a6633856-b523 . +_:genid-64f25be5d6034e66af719eba4856a993-b528 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b529 . -_:genid-524df1dd58a943f5984cb583a6633856-b523 rdf:first _:genid-524df1dd58a943f5984cb583a6633856-b440; - rdf:rest rdf:nil . +_:genid-64f25be5d6034e66af719eba4856a993-b529 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b530 . - - _:genid-524df1dd58a943f5984cb583a6633856-b524 . +_:genid-64f25be5d6034e66af719eba4856a993-b530 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b531 . -_:genid-524df1dd58a943f5984cb583a6633856-b524 rdf:first _:genid-524df1dd58a943f5984cb583a6633856-b415; +_:genid-64f25be5d6034e66af719eba4856a993-b531 rdf:first ; rdf:rest rdf:nil . - - _:genid-524df1dd58a943f5984cb583a6633856-b525 . + + _:genid-64f25be5d6034e66af719eba4856a993-b532 . -_:genid-524df1dd58a943f5984cb583a6633856-b525 rdf:first _:genid-524df1dd58a943f5984cb583a6633856-b474; +_:genid-64f25be5d6034e66af719eba4856a993-b532 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b403; rdf:rest rdf:nil . - - _:genid-524df1dd58a943f5984cb583a6633856-b526 . + + _:genid-64f25be5d6034e66af719eba4856a993-b533 . -_:genid-524df1dd58a943f5984cb583a6633856-b526 rdf:first _:genid-524df1dd58a943f5984cb583a6633856-b492; +_:genid-64f25be5d6034e66af719eba4856a993-b533 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b411; rdf:rest rdf:nil . - - _:genid-524df1dd58a943f5984cb583a6633856-b527 . - a ; rdfs:comment ""; rdfs:label "CreateEndServer"; - _:genid-524df1dd58a943f5984cb583a6633856-b489, - _:genid-524df1dd58a943f5984cb583a6633856-b444 . - -_:genid-524df1dd58a943f5984cb583a6633856-b527 rdf:first _:genid-524df1dd58a943f5984cb583a6633856-b466; - rdf:rest rdf:nil . + _:genid-64f25be5d6034e66af719eba4856a993-b432, + _:genid-64f25be5d6034e66af719eba4856a993-b452 . - - _:genid-524df1dd58a943f5984cb583a6633856-b528 . + + _:genid-64f25be5d6034e66af719eba4856a993-b534 . -_:genid-524df1dd58a943f5984cb583a6633856-b528 rdf:first _:genid-524df1dd58a943f5984cb583a6633856-b423; +_:genid-64f25be5d6034e66af719eba4856a993-b534 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b388; rdf:rest rdf:nil . - - _:genid-524df1dd58a943f5984cb583a6633856-b529 . + + _:genid-64f25be5d6034e66af719eba4856a993-b535 . -_:genid-524df1dd58a943f5984cb583a6633856-b529 rdf:first _:genid-524df1dd58a943f5984cb583a6633856-b493; +_:genid-64f25be5d6034e66af719eba4856a993-b535 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b400; rdf:rest rdf:nil . - - _:genid-524df1dd58a943f5984cb583a6633856-b530 . - -_:genid-524df1dd58a943f5984cb583a6633856-b530 rdf:first _:genid-524df1dd58a943f5984cb583a6633856-b510; +_:genid-64f25be5d6034e66af719eba4856a993-b536 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b515; 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; rdfs:comment ""; - rdfs:label "GetBoundary(ScrewManual(Object))" . + rdfs:label "GetBoundary(ScrewManual(Object))"; + _:genid-64f25be5d6034e66af719eba4856a993-b390 . + + + ; + _:genid-64f25be5d6034e66af719eba4856a993-b554 . a ; - _:genid-524df1dd58a943f5984cb583a6633856-b452, - _:genid-524df1dd58a943f5984cb583a6633856-b467; ; "http://www.ajan.de/behavior/bt-ns#current"; rdfs:comment ""; - rdfs:label "GetMMUs" . + rdfs:label "GetMMUs"; + _:genid-64f25be5d6034e66af719eba4856a993-b496, + _:genid-64f25be5d6034e66af719eba4856a993-b375 . - - _:genid-524df1dd58a943f5984cb583a6633856-b417 . - - - _:genid-524df1dd58a943f5984cb583a6633856-b442 . +_:genid-64f25be5d6034e66af719eba4856a993-b554 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b373; + rdf:rest rdf:nil . a ; - _:genid-524df1dd58a943f5984cb583a6633856-b443; ; rdfs:comment ""; - rdfs:label "HandleEvent" . + rdfs:label "HandleEvent"; + _:genid-64f25be5d6034e66af719eba4856a993-b387 . + +_:genid-64f25be5d6034e66af719eba4856a993-b555 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b409; 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- rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b558 . + + _:genid-64f25be5d6034e66af719eba4856a993-b458 . -_:genid-524df1dd58a943f5984cb583a6633856-b558 rdf:first ; - rdf:rest rdf:nil . + + _:genid-64f25be5d6034e66af719eba4856a993-b394 . -_:genid-524df1dd58a943f5984cb583a6633856-b559 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b560 . + + _:genid-64f25be5d6034e66af719eba4856a993-b430 . -_:genid-524df1dd58a943f5984cb583a6633856-b560 rdf:first ; - rdf:rest rdf:nil . + + _:genid-64f25be5d6034e66af719eba4856a993-b401 . a ; - _:genid-524df1dd58a943f5984cb583a6633856-b561; rdfs:label "defaultPriority"; rdfs:comment "" . @@ -3616,42 +4284,27 @@ _:genid-524df1dd58a943f5984cb583a6633856-b560 rdf:first ; rdfs:label "defaultIsSucceeding" . -_:genid-524df1dd58a943f5984cb583a6633856-b561 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b562 . - -_:genid-524df1dd58a943f5984cb583a6633856-b562 rdf:first ; - rdf:rest rdf:nil . - -_:genid-524df1dd58a943f5984cb583a6633856-b563 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b564 . - -_:genid-524df1dd58a943f5984cb583a6633856-b564 rdf:first ; - rdf:rest rdf:nil . - - - _:genid-524df1dd58a943f5984cb583a6633856-b448 . + + _:genid-64f25be5d6034e66af719eba4856a993-b560; + _:genid-64f25be5d6034e66af719eba4856a993-b507 . - - _:genid-524df1dd58a943f5984cb583a6633856-b501 . +_:genid-64f25be5d6034e66af719eba4856a993-b560 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b561 . - - _:genid-524df1dd58a943f5984cb583a6633856-b473 . +_:genid-64f25be5d6034e66af719eba4856a993-b561 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b562 . - - _:genid-524df1dd58a943f5984cb583a6633856-b458; - _:genid-524df1dd58a943f5984cb583a6633856-b393; - _:genid-524df1dd58a943f5984cb583a6633856-b411 . +_:genid-64f25be5d6034e66af719eba4856a993-b562 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b563 . - - _:genid-524df1dd58a943f5984cb583a6633856-b478; - _:genid-524df1dd58a943f5984cb583a6633856-b460; - _:genid-524df1dd58a943f5984cb583a6633856-b475 . +_:genid-64f25be5d6034e66af719eba4856a993-b563 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b564 . - - _:genid-524df1dd58a943f5984cb583a6633856-b461 . +_:genid-64f25be5d6034e66af719eba4856a993-b564 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b565 . -_:genid-524df1dd58a943f5984cb583a6633856-b565 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b566 . +_:genid-64f25be5d6034e66af719eba4856a993-b565 rdf:first ; + rdf:rest rdf:nil . a ; @@ -3659,130 +4312,125 @@ _:genid-524df1dd58a943f5984cb583a6633856-b565 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b567 . - -_:genid-524df1dd58a943f5984cb583a6633856-b567 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b568 . - -_:genid-524df1dd58a943f5984cb583a6633856-b568 rdf:first ; - rdf:rest rdf:nil . - - - _:genid-524df1dd58a943f5984cb583a6633856-b569 . + + _:genid-64f25be5d6034e66af719eba4856a993-b445 . -_:genid-524df1dd58a943f5984cb583a6633856-b569 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b570 . + + _:genid-64f25be5d6034e66af719eba4856a993-b521 . -_:genid-524df1dd58a943f5984cb583a6633856-b570 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b571 . + + _:genid-64f25be5d6034e66af719eba4856a993-b566 . -_:genid-524df1dd58a943f5984cb583a6633856-b571 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b572 . +_:genid-64f25be5d6034e66af719eba4856a993-b566 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b567 . -_:genid-524df1dd58a943f5984cb583a6633856-b572 rdf:first ; +_:genid-64f25be5d6034e66af719eba4856a993-b567 rdf:first ; rdf:rest rdf:nil . - - _:genid-524df1dd58a943f5984cb583a6633856-b573 . + + _:genid-64f25be5d6034e66af719eba4856a993-b568 . + +_:genid-64f25be5d6034e66af719eba4856a993-b568 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b569 . -_:genid-524df1dd58a943f5984cb583a6633856-b573 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b574 . +_:genid-64f25be5d6034e66af719eba4856a993-b569 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b570 . a , ; ; rdfs:label "Tighten_BT" . -_:genid-524df1dd58a943f5984cb583a6633856-b574 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b575 . - -_:genid-524df1dd58a943f5984cb583a6633856-b575 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b576 . +_:genid-64f25be5d6034e66af719eba4856a993-b570 rdf:first ; + rdf:rest rdf:nil . -_:genid-524df1dd58a943f5984cb583a6633856-b576 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b577 . +_:genid-64f25be5d6034e66af719eba4856a993-b571 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b572 . -_:genid-524df1dd58a943f5984cb583a6633856-b577 rdf:first ; - rdf:rest rdf:nil . +_:genid-64f25be5d6034e66af719eba4856a993-b572 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b573 . a ; ; rdfs:label "defaultIsSucceeding" . -_:genid-524df1dd58a943f5984cb583a6633856-b578 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b579 . - -_:genid-524df1dd58a943f5984cb583a6633856-b579 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b580 . +_:genid-64f25be5d6034e66af719eba4856a993-b573 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b574 . -_:genid-524df1dd58a943f5984cb583a6633856-b580 rdf:first ; +_:genid-64f25be5d6034e66af719eba4856a993-b574 rdf:first ; rdf:rest rdf:nil . -_:genid-524df1dd58a943f5984cb583a6633856-b581 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b582 . + + _:genid-64f25be5d6034e66af719eba4856a993-b575 . -_:genid-524df1dd58a943f5984cb583a6633856-b582 rdf:first ; - rdf:rest rdf:nil . +_:genid-64f25be5d6034e66af719eba4856a993-b575 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b576 . - - _:genid-524df1dd58a943f5984cb583a6633856-b583 . +_:genid-64f25be5d6034e66af719eba4856a993-b576 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b577 . -_:genid-524df1dd58a943f5984cb583a6633856-b583 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b584 . +_:genid-64f25be5d6034e66af719eba4856a993-b577 rdf:first ; + rdf:rest rdf:nil . -_:genid-524df1dd58a943f5984cb583a6633856-b584 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b585 . +_:genid-64f25be5d6034e66af719eba4856a993-b578 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b579 . -_:genid-524df1dd58a943f5984cb583a6633856-b585 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b586 . +_:genid-64f25be5d6034e66af719eba4856a993-b579 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b580 . -_:genid-524df1dd58a943f5984cb583a6633856-b586 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b587 . +_:genid-64f25be5d6034e66af719eba4856a993-b580 rdf:first ; + rdf:rest rdf:nil . -_:genid-524df1dd58a943f5984cb583a6633856-b587 rdf:first . +_:genid-64f25be5d6034e66af719eba4856a993-b581 rdf:first . rdfs:comment ""; rdfs:label "Parallel" . -_:genid-524df1dd58a943f5984cb583a6633856-b587 rdf:rest rdf:nil . +_:genid-64f25be5d6034e66af719eba4856a993-b581 rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b582 . - - _:genid-524df1dd58a943f5984cb583a6633856-b588 . +_:genid-64f25be5d6034e66af719eba4856a993-b582 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b583 . -_:genid-524df1dd58a943f5984cb583a6633856-b588 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b589 . +_:genid-64f25be5d6034e66af719eba4856a993-b583 rdf:first ; + rdf:rest rdf:nil . a ; - rdfs:label "defaultSequence" . + rdfs:label "defaultSequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b601 . -_:genid-524df1dd58a943f5984cb583a6633856-b589 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b590 . + + _:genid-64f25be5d6034e66af719eba4856a993-b584 . -_:genid-524df1dd58a943f5984cb583a6633856-b590 rdf:first ; - rdf:rest rdf:nil . +_:genid-64f25be5d6034e66af719eba4856a993-b584 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b585 . - - _:genid-524df1dd58a943f5984cb583a6633856-b591 . +_:genid-64f25be5d6034e66af719eba4856a993-b585 rdf:first ; + rdf:rest rdf:nil . -_:genid-524df1dd58a943f5984cb583a6633856-b591 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b592 . + + _:genid-64f25be5d6034e66af719eba4856a993-b586 . a ; false; rdfs:label "Positioned(Object)"; rdfs:comment ""; - _:genid-524df1dd58a943f5984cb583a6633856-b433 . + _:genid-64f25be5d6034e66af719eba4856a993-b500 . + +_:genid-64f25be5d6034e66af719eba4856a993-b586 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b587 . -_:genid-524df1dd58a943f5984cb583a6633856-b592 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b593 . +_:genid-64f25be5d6034e66af719eba4856a993-b587 rdf:first ; + rdf:rest rdf:nil . -_:genid-524df1dd58a943f5984cb583a6633856-b593 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b594 . + + a ; + _:genid-64f25be5d6034e66af719eba4856a993-b588; + rdfs:label "defaultPriority"; + rdfs:comment "" . a ; @@ -3797,8 +4445,8 @@ _:genid-524df1dd58a943f5984cb583a6633856-b593 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b595 . +_:genid-64f25be5d6034e66af719eba4856a993-b588 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b589 . a ; @@ -3810,10 +4458,11 @@ _:genid-524df1dd58a943f5984cb583a6633856-b594 rdf:first a ; - rdfs:label "defaultSequence" . + rdfs:label "defaultSequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b605 . -_:genid-524df1dd58a943f5984cb583a6633856-b595 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b596 . +_:genid-64f25be5d6034e66af719eba4856a993-b589 rdf:first ; + rdf:rest rdf:nil . a ; @@ -3823,25 +4472,28 @@ _:genid-524df1dd58a943f5984cb583a6633856-b595 rdf:first true; rdfs:comment "" . -_:genid-524df1dd58a943f5984cb583a6633856-b596 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b597 . + + a ; + _:genid-64f25be5d6034e66af719eba4856a993-b590; + rdfs:comment ""; + rdfs:label "defaultPriority" . -_:genid-524df1dd58a943f5984cb583a6633856-b597 rdf:first ; - rdf:rest rdf:nil . +_:genid-64f25be5d6034e66af719eba4856a993-b590 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b591 . a ; rdfs:label "defaultSequence"; - _:genid-524df1dd58a943f5984cb583a6633856-b616 . + _:genid-64f25be5d6034e66af719eba4856a993-b652 . a ; - _:genid-524df1dd58a943f5984cb583a6633856-b598; rdfs:comment ""; - rdfs:label "Sequence" . + rdfs:label "Sequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b632 . -_:genid-524df1dd58a943f5984cb583a6633856-b598 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b599 . +_:genid-64f25be5d6034e66af719eba4856a993-b591 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b592 . a ; @@ -3851,8 +4503,14 @@ _:genid-524df1dd58a943f5984cb583a6633856-b598 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b600 . + + a ; + rdfs:comment ""; + rdfs:label "defaultSequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b620 . + +_:genid-64f25be5d6034e66af719eba4856a993-b592 rdf:first ; + rdf:rest rdf:nil . a ; @@ -3864,13 +4522,11 @@ _:genid-524df1dd58a943f5984cb583a6633856-b599 rdf:first a ; - rdfs:comment "" . - -_:genid-524df1dd58a943f5984cb583a6633856-b600 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b601 . + rdfs:comment ""; + _:genid-64f25be5d6034e66af719eba4856a993-b612 . -_:genid-524df1dd58a943f5984cb583a6633856-b601 rdf:first ; - rdf:rest rdf:nil . + + _:genid-64f25be5d6034e66af719eba4856a993-b593 . a ; @@ -3882,23 +4538,28 @@ _:genid-524df1dd58a943f5984cb583a6633856-b601 rdf:first a ; - _:genid-524df1dd58a943f5984cb583a6633856-b602; - rdfs:label "defaultSequence" . + rdfs:label "defaultSequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b636 . -_:genid-524df1dd58a943f5984cb583a6633856-b602 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b603 . + + a ; + rdfs:comment ""; + rdfs:label "NextOperation_Tightening?" . -_:genid-524df1dd58a943f5984cb583a6633856-b603 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b604 . +_:genid-64f25be5d6034e66af719eba4856a993-b593 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b594 . a ; ; rdfs:comment ""; - rdfs:label "RegisterListener_CycleEnd" . + rdfs:label "RegisterListener_CycleEnd"; + _:genid-64f25be5d6034e66af719eba4856a993-b392; + _:genid-64f25be5d6034e66af719eba4856a993-b462; + _:genid-64f25be5d6034e66af719eba4856a993-b478 . -_:genid-524df1dd58a943f5984cb583a6633856-b604 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b605 . +_:genid-64f25be5d6034e66af719eba4856a993-b594 rdf:first ; + rdf:rest rdf:nil . a ; @@ -3908,13 +4569,17 @@ _:genid-524df1dd58a943f5984cb583a6633856-b604 rdf:first ; - rdf:rest rdf:nil . + + _:genid-64f25be5d6034e66af719eba4856a993-b595 . + +_:genid-64f25be5d6034e66af719eba4856a993-b595 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b596 . a ; rdfs:comment ""; - rdfs:label "defaultSequence" . + rdfs:label "defaultSequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b615 . a ; @@ -3926,27 +4591,31 @@ _:genid-524df1dd58a943f5984cb583a6633856-b605 rdf:first a ; - _:genid-524df1dd58a943f5984cb583a6633856-b606; - rdfs:label "defaultSequence" . - -_:genid-524df1dd58a943f5984cb583a6633856-b606 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b607 . + rdfs:label "defaultSequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b642 . -_:genid-524df1dd58a943f5984cb583a6633856-b607 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b608 . + + a ; + true; + rdfs:comment ""; + rdfs:label "defaultParallel" . a ; rdfs:comment ""; rdfs:label "Sequence"; - _:genid-524df1dd58a943f5984cb583a6633856-b627 . + _:genid-64f25be5d6034e66af719eba4856a993-b665 . -_:genid-524df1dd58a943f5984cb583a6633856-b608 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b609 . - -_:genid-524df1dd58a943f5984cb583a6633856-b609 rdf:first ; +_:genid-64f25be5d6034e66af719eba4856a993-b596 rdf:first ; rdf:rest rdf:nil . + + a ; + ; + true; + ; + rdfs:comment "" . + a ; ; @@ -3957,8 +4626,11 @@ _:genid-524df1dd58a943f5984cb583a6633856-b609 rdf:first a ; - _:genid-524df1dd58a943f5984cb583a6633856-b610; - rdfs:label "defaultSequence" . + rdfs:label "defaultSequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b646 . + + + _:genid-64f25be5d6034e66af719eba4856a993-b484 . a ; @@ -3968,11 +4640,11 @@ _:genid-524df1dd58a943f5984cb583a6633856-b609 rdf:first true; rdfs:comment "" . -_:genid-524df1dd58a943f5984cb583a6633856-b610 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b611 . + + _:genid-64f25be5d6034e66af719eba4856a993-b497 . -_:genid-524df1dd58a943f5984cb583a6633856-b611 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b612 . + + _:genid-64f25be5d6034e66af719eba4856a993-b487 . a ; @@ -3987,10 +4659,24 @@ _:genid-524df1dd58a943f5984cb583a6633856-b611 rdf:first false; rdfs:comment ""; rdfs:label "SetTask?!"; - _:genid-524df1dd58a943f5984cb583a6633856-b431 . + _:genid-64f25be5d6034e66af719eba4856a993-b495 . + + + a ; + _:genid-64f25be5d6034e66af719eba4856a993-b460; + ; + rdfs:comment ""; + rdfs:label "Tighten_Goal" . + + + a ; + _:genid-64f25be5d6034e66af719eba4856a993-b474; + ; + rdfs:comment ""; + rdfs:label "Position_Goal" . -_:genid-524df1dd58a943f5984cb583a6633856-b612 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b613 . + + _:genid-64f25be5d6034e66af719eba4856a993-b473 . a ; @@ -4000,8 +4686,16 @@ _:genid-524df1dd58a943f5984cb583a6633856-b612 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b614 . + + _:genid-64f25be5d6034e66af719eba4856a993-b472 . + + + a ; + _:genid-64f25be5d6034e66af719eba4856a993-b469; + ; + ; + rdfs:comment ""; + rdfs:label "GET_TaskList" . a ; @@ -4011,46 +4705,44 @@ _:genid-524df1dd58a943f5984cb583a6633856-b613 rdf:first - a ; - ; - rdfs:comment ""; - rdfs:label "Tighten_Goal" . - -_:genid-524df1dd58a943f5984cb583a6633856-b614 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b615 . + + _:genid-64f25be5d6034e66af719eba4856a993-b503; + _:genid-64f25be5d6034e66af719eba4856a993-b385; + _:genid-64f25be5d6034e66af719eba4856a993-b427 . a ; false; rdfs:comment ""; rdfs:label "SetOperation?!"; - _:genid-524df1dd58a943f5984cb583a6633856-b434 . + _:genid-64f25be5d6034e66af719eba4856a993-b504 . -_:genid-524df1dd58a943f5984cb583a6633856-b615 rdf:first ; - rdf:rest rdf:nil . + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Place(Object)" . a ; rdfs:comment ""; rdfs:label "Unknown_Instruction" . -_:genid-524df1dd58a943f5984cb583a6633856-b616 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b617 . - a ; rdfs:comment ""; rdfs:label "Press_Instruction" . -_:genid-524df1dd58a943f5984cb583a6633856-b617 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b618 . - -_:genid-524df1dd58a943f5984cb583a6633856-b618 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b619 . - -_:genid-524df1dd58a943f5984cb583a6633856-b619 rdf:first ; - rdf:rest rdf:nil . + + a ; + _:genid-64f25be5d6034e66af719eba4856a993-b441; + ; + rdfs:comment ""; + rdfs:label "RegisterListener_End"; + _:genid-64f25be5d6034e66af719eba4856a993-b419; + _:genid-64f25be5d6034e66af719eba4856a993-b456 . a ; @@ -4058,38 +4750,34 @@ _:genid-524df1dd58a943f5984cb583a6633856-b619 rdf:first - a ; + + _:genid-64f25be5d6034e66af719eba4856a993-b420; + _:genid-64f25be5d6034e66af719eba4856a993-b489; + _:genid-64f25be5d6034e66af719eba4856a993-b439 . + + + a ; + ; + true; ; rdfs:comment ""; - rdfs:label "RegisterListener_End" . - - - _:genid-524df1dd58a943f5984cb583a6633856-b620 . - -_:genid-524df1dd58a943f5984cb583a6633856-b620 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b621 . + rdfs:label "Retrieve(Object)" . -_:genid-524df1dd58a943f5984cb583a6633856-b621 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b622 . - -_:genid-524df1dd58a943f5984cb583a6633856-b622 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b623 . - -_:genid-524df1dd58a943f5984cb583a6633856-b623 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b624 . - -_:genid-524df1dd58a943f5984cb583a6633856-b624 rdf:first ; - rdf:rest rdf:nil . + + a ; + _:genid-64f25be5d6034e66af719eba4856a993-b448; + ; + rdfs:comment ""; + rdfs:label "Repeater" . - - _:genid-524df1dd58a943f5984cb583a6633856-b625 . + + _:genid-64f25be5d6034e66af719eba4856a993-b597 . -_:genid-524df1dd58a943f5984cb583a6633856-b625 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b626 . +_:genid-64f25be5d6034e66af719eba4856a993-b597 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b598 . -_:genid-524df1dd58a943f5984cb583a6633856-b626 rdf:first ; - rdf:rest rdf:nil . +_:genid-64f25be5d6034e66af719eba4856a993-b598 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b599 . . @@ -4100,8 +4788,8 @@ _:genid-524df1dd58a943f5984cb583a6633856-b626 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b628 . +_:genid-64f25be5d6034e66af719eba4856a993-b599 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b600 . a ; @@ -4109,10 +4797,7 @@ _:genid-524df1dd58a943f5984cb583a6633856-b627 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b629 . - -_:genid-524df1dd58a943f5984cb583a6633856-b629 rdf:first ; +_:genid-64f25be5d6034e66af719eba4856a993-b600 rdf:first ; rdf:rest rdf:nil . @@ -4125,23 +4810,26 @@ _:genid-524df1dd58a943f5984cb583a6633856-b629 rdf:first a ; - _:genid-524df1dd58a943f5984cb583a6633856-b630; rdfs:comment ""; - rdfs:label "defaultSequence" . + rdfs:label "defaultSequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b668 . + +_:genid-64f25be5d6034e66af719eba4856a993-b601 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b602 . -_:genid-524df1dd58a943f5984cb583a6633856-b630 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b631 . +_:genid-64f25be5d6034e66af719eba4856a993-b602 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b603 . -_:genid-524df1dd58a943f5984cb583a6633856-b631 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b632 . +_:genid-64f25be5d6034e66af719eba4856a993-b603 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b604 . a ; rdfs:label "At(Target)"; rdfs:comment "" . -_:genid-524df1dd58a943f5984cb583a6633856-b632 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b633 . +_:genid-64f25be5d6034e66af719eba4856a993-b604 rdf:first ; + rdf:rest rdf:nil . a ; @@ -4154,19 +4842,6 @@ _:genid-524df1dd58a943f5984cb583a6633856-b632 rdf:first . - - a ; - ; - rdfs:comment ""; - rdfs:label "Position_Goal" . - - - a ; - ; - ; - rdfs:comment ""; - rdfs:label "GET_TaskList" . - a , ; ; @@ -4178,17 +4853,8 @@ _:genid-524df1dd58a943f5984cb583a6633856-b632 rdf:first . -_:genid-524df1dd58a943f5984cb583a6633856-b633 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b634 . - - - a ; - ; - rdfs:comment ""; - rdfs:label "Repeater" . - -_:genid-524df1dd58a943f5984cb583a6633856-b634 rdf:first ; - rdf:rest rdf:nil . +_:genid-64f25be5d6034e66af719eba4856a993-b605 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b606 . a , ; @@ -4200,25 +4866,23 @@ _:genid-524df1dd58a943f5984cb583a6633856-b634 rdf:first ; rdfs:label "Process_Tasklist_BT" . - - _:genid-524df1dd58a943f5984cb583a6633856-b635 . +_:genid-64f25be5d6034e66af719eba4856a993-b606 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b607 . -_:genid-524df1dd58a943f5984cb583a6633856-b635 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b636 . +_:genid-64f25be5d6034e66af719eba4856a993-b607 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b608 . -_:genid-524df1dd58a943f5984cb583a6633856-b636 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b637 . +_:genid-64f25be5d6034e66af719eba4856a993-b608 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b609 . -_:genid-524df1dd58a943f5984cb583a6633856-b637 rdf:first ; - rdf:rest _:genid-524df1dd58a943f5984cb583a6633856-b638 . +_:genid-64f25be5d6034e66af719eba4856a993-b609 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b610 . -_:genid-524df1dd58a943f5984cb583a6633856-b638 rdf:first ; - rdf:rest rdf:nil . +_:genid-64f25be5d6034e66af719eba4856a993-b610 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b611 . - - _:genid-524df1dd58a943f5984cb583a6633856-b511; - _:genid-524df1dd58a943f5984cb583a6633856-b479; - _:genid-524df1dd58a943f5984cb583a6633856-b419 . +_:genid-64f25be5d6034e66af719eba4856a993-b611 rdf:first ; + rdf:rest rdf:nil . a , ; @@ -4231,32 +4895,23 @@ _:genid-524df1dd58a943f5984cb583a6633856-b638 rdf:first ; rdfs:label "GetScene" . - - _:genid-524df1dd58a943f5984cb583a6633856-b498; - _:genid-524df1dd58a943f5984cb583a6633856-b377; - _:genid-524df1dd58a943f5984cb583a6633856-b389 . - - - _:genid-524df1dd58a943f5984cb583a6633856-b387; - _:genid-524df1dd58a943f5984cb583a6633856-b439; - _:genid-524df1dd58a943f5984cb583a6633856-b422 . +_:genid-64f25be5d6034e66af719eba4856a993-b612 rdf:first ; + rdf:rest rdf:nil . - - _:genid-524df1dd58a943f5984cb583a6633856-b505; - _:genid-524df1dd58a943f5984cb583a6633856-b484; - _:genid-524df1dd58a943f5984cb583a6633856-b392 . + + _:genid-64f25be5d6034e66af719eba4856a993-b613 . - - _:genid-524df1dd58a943f5984cb583a6633856-b396 . +_:genid-64f25be5d6034e66af719eba4856a993-b613 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b614 . - - _:genid-524df1dd58a943f5984cb583a6633856-b472 . +_:genid-64f25be5d6034e66af719eba4856a993-b614 rdf:first ; + rdf:rest rdf:nil . - - _:genid-524df1dd58a943f5984cb583a6633856-b494 . +_:genid-64f25be5d6034e66af719eba4856a993-b615 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b616 . - - _:genid-524df1dd58a943f5984cb583a6633856-b412 . +_:genid-64f25be5d6034e66af719eba4856a993-b616 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b617 . a , ; @@ -4274,59 +4929,353 @@ _:genid-524df1dd58a943f5984cb583a6633856-b638 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b618 . + +_:genid-64f25be5d6034e66af719eba4856a993-b618 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b619 . + +_:genid-64f25be5d6034e66af719eba4856a993-b619 rdf:first ; + rdf:rest rdf:nil . + +_:genid-64f25be5d6034e66af719eba4856a993-b620 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b621 . + +_:genid-64f25be5d6034e66af719eba4856a993-b621 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-64f25be5d6034e66af719eba4856a993-b622 . + +_:genid-64f25be5d6034e66af719eba4856a993-b622 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b623 . + +_:genid-64f25be5d6034e66af719eba4856a993-b623 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b624 . + +_:genid-64f25be5d6034e66af719eba4856a993-b624 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-64f25be5d6034e66af719eba4856a993-b625 . + +_:genid-64f25be5d6034e66af719eba4856a993-b625 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b626 . + +_:genid-64f25be5d6034e66af719eba4856a993-b626 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b627 . + +_:genid-64f25be5d6034e66af719eba4856a993-b627 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b628 . + +_:genid-64f25be5d6034e66af719eba4856a993-b628 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b629 . + +_:genid-64f25be5d6034e66af719eba4856a993-b629 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b630 . + +_:genid-64f25be5d6034e66af719eba4856a993-b630 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b631 . + +_:genid-64f25be5d6034e66af719eba4856a993-b631 rdf:first ; + rdf:rest rdf:nil . + +_:genid-64f25be5d6034e66af719eba4856a993-b632 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b633 . + +_:genid-64f25be5d6034e66af719eba4856a993-b633 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b634 . + +_:genid-64f25be5d6034e66af719eba4856a993-b634 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b635 . + +_:genid-64f25be5d6034e66af719eba4856a993-b635 rdf:first ; + rdf:rest rdf:nil . + +_:genid-64f25be5d6034e66af719eba4856a993-b636 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b637 . + +_:genid-64f25be5d6034e66af719eba4856a993-b637 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b638 . + + + a ; + rdfs:label "defaultSequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b640 . + +_:genid-64f25be5d6034e66af719eba4856a993-b638 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b639 . + + + a ; + true; + rdfs:label "defaultParallel" . + +_:genid-64f25be5d6034e66af719eba4856a993-b639 rdf:first ; + rdf:rest rdf:nil . + +_:genid-64f25be5d6034e66af719eba4856a993-b640 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b641 . + + + a ; + true . + +_:genid-64f25be5d6034e66af719eba4856a993-b641 rdf:first ; + rdf:rest rdf:nil . + +_:genid-64f25be5d6034e66af719eba4856a993-b642 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b643 . + +_:genid-64f25be5d6034e66af719eba4856a993-b643 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b644 . + +_:genid-64f25be5d6034e66af719eba4856a993-b644 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b645 . + +_:genid-64f25be5d6034e66af719eba4856a993-b645 rdf:first ; + rdf:rest rdf:nil . + + + a ; + true . + +_:genid-64f25be5d6034e66af719eba4856a993-b646 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b647 . + +_:genid-64f25be5d6034e66af719eba4856a993-b647 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b648 . + +_:genid-64f25be5d6034e66af719eba4856a993-b648 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b649 . + +_:genid-64f25be5d6034e66af719eba4856a993-b649 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b650 . + +_:genid-64f25be5d6034e66af719eba4856a993-b650 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b651 . + +_:genid-64f25be5d6034e66af719eba4856a993-b651 rdf:first ; + rdf:rest rdf:nil . + +_:genid-64f25be5d6034e66af719eba4856a993-b652 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b653 . + +_:genid-64f25be5d6034e66af719eba4856a993-b653 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b654 . + + + a ; + true; + rdfs:label "defaultParallel"; + rdfs:comment "" . + + + a ; + rdfs:label "LastOperation_Tightening?"; + rdfs:comment "" . + +_:genid-64f25be5d6034e66af719eba4856a993-b654 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b655 . + +_:genid-64f25be5d6034e66af719eba4856a993-b655 rdf:first ; + rdf:rest rdf:nil . + + + a ; + true; + rdfs:label "defaultParallel" . + + + _:genid-64f25be5d6034e66af719eba4856a993-b656 . + +_:genid-64f25be5d6034e66af719eba4856a993-b656 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b657 . + + + a ; + ; + ; + true; + rdfs:label "ScrewManual(Object)"; + rdfs:comment "" . + +_:genid-64f25be5d6034e66af719eba4856a993-b657 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b658 . + +_:genid-64f25be5d6034e66af719eba4856a993-b658 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b659 . + +_:genid-64f25be5d6034e66af719eba4856a993-b659 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b660 . + + + a ; + rdfs:label "defaultSequence"; + _:genid-64f25be5d6034e66af719eba4856a993-b663 . + + + a ; + ; + ; + true; + rdfs:label "Place(Object)"; + rdfs:comment "" . + +_:genid-64f25be5d6034e66af719eba4856a993-b660 rdf:first ; + rdf:rest rdf:nil . + + + a ; + rdfs:label "NextOperation_Tightening?"; + rdfs:comment "" . + + + _:genid-64f25be5d6034e66af719eba4856a993-b661 . + +_:genid-64f25be5d6034e66af719eba4856a993-b661 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b662 . + +_:genid-64f25be5d6034e66af719eba4856a993-b662 rdf:first ; + rdf:rest rdf:nil . + + + a ; + ; + true; + rdfs:label "Return(Object)"; + rdfs:comment "" . + +_:genid-64f25be5d6034e66af719eba4856a993-b663 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b664 . + +_:genid-64f25be5d6034e66af719eba4856a993-b664 rdf:first ; + rdf:rest rdf:nil . + +_:genid-64f25be5d6034e66af719eba4856a993-b665 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b666 . + +_:genid-64f25be5d6034e66af719eba4856a993-b666 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b667 . + +_:genid-64f25be5d6034e66af719eba4856a993-b667 rdf:first ; + rdf:rest rdf:nil . + +_:genid-64f25be5d6034e66af719eba4856a993-b668 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b669 . + +_:genid-64f25be5d6034e66af719eba4856a993-b669 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b670 . + +_:genid-64f25be5d6034e66af719eba4856a993-b670 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b671 . + +_:genid-64f25be5d6034e66af719eba4856a993-b671 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b672 . + +_:genid-64f25be5d6034e66af719eba4856a993-b672 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-64f25be5d6034e66af719eba4856a993-b673 . + +_:genid-64f25be5d6034e66af719eba4856a993-b673 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b674 . + +_:genid-64f25be5d6034e66af719eba4856a993-b674 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b675 . + +_:genid-64f25be5d6034e66af719eba4856a993-b675 rdf:first ; + rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b676 . + +_:genid-64f25be5d6034e66af719eba4856a993-b676 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-64f25be5d6034e66af719eba4856a993-b437; + _:genid-64f25be5d6034e66af719eba4856a993-b499; + _:genid-64f25be5d6034e66af719eba4856a993-b438 . + + + _:genid-64f25be5d6034e66af719eba4856a993-b421; + _:genid-64f25be5d6034e66af719eba4856a993-b509; + _:genid-64f25be5d6034e66af719eba4856a993-b446 . + + + _:genid-64f25be5d6034e66af719eba4856a993-b443; + _:genid-64f25be5d6034e66af719eba4856a993-b511; + _:genid-64f25be5d6034e66af719eba4856a993-b395 . + + + _:genid-64f25be5d6034e66af719eba4856a993-b412; + _:genid-64f25be5d6034e66af719eba4856a993-b424; + _:genid-64f25be5d6034e66af719eba4856a993-b459 . + + + _:genid-64f25be5d6034e66af719eba4856a993-b468 . + + + _:genid-64f25be5d6034e66af719eba4856a993-b384 . + + + _:genid-64f25be5d6034e66af719eba4856a993-b466 . + + + _:genid-64f25be5d6034e66af719eba4856a993-b416 . + - _:genid-524df1dd58a943f5984cb583a6633856-b497 . + _:genid-64f25be5d6034e66af719eba4856a993-b380 . - _:genid-524df1dd58a943f5984cb583a6633856-b499 . + _:genid-64f25be5d6034e66af719eba4856a993-b480 . - _:genid-524df1dd58a943f5984cb583a6633856-b456 . + _:genid-64f25be5d6034e66af719eba4856a993-b377 . - _:genid-524df1dd58a943f5984cb583a6633856-b495 . + _:genid-64f25be5d6034e66af719eba4856a993-b422 . - _:genid-524df1dd58a943f5984cb583a6633856-b424 . + _:genid-64f25be5d6034e66af719eba4856a993-b477 . - _:genid-524df1dd58a943f5984cb583a6633856-b507 . + _:genid-64f25be5d6034e66af719eba4856a993-b513 . - _:genid-524df1dd58a943f5984cb583a6633856-b454 . + _:genid-64f25be5d6034e66af719eba4856a993-b512 . - _:genid-524df1dd58a943f5984cb583a6633856-b403 . + _:genid-64f25be5d6034e66af719eba4856a993-b389 . - _:genid-524df1dd58a943f5984cb583a6633856-b455 . + _:genid-64f25be5d6034e66af719eba4856a993-b376 . - _:genid-524df1dd58a943f5984cb583a6633856-b486 . + _:genid-64f25be5d6034e66af719eba4856a993-b429 . - _:genid-524df1dd58a943f5984cb583a6633856-b414 . + _:genid-64f25be5d6034e66af719eba4856a993-b391 . - _:genid-524df1dd58a943f5984cb583a6633856-b490 . + _:genid-64f25be5d6034e66af719eba4856a993-b451 . - _:genid-524df1dd58a943f5984cb583a6633856-b427 . + _:genid-64f25be5d6034e66af719eba4856a993-b483 . - _:genid-524df1dd58a943f5984cb583a6633856-b482 . + _:genid-64f25be5d6034e66af719eba4856a993-b455 . - _:genid-524df1dd58a943f5984cb583a6633856-b450 . + _:genid-64f25be5d6034e66af719eba4856a993-b457 . - _:genid-524df1dd58a943f5984cb583a6633856-b378 . + _:genid-64f25be5d6034e66af719eba4856a993-b417 . - _:genid-524df1dd58a943f5984cb583a6633856-b436 . + _:genid-64f25be5d6034e66af719eba4856a993-b505 . - _:genid-524df1dd58a943f5984cb583a6633856-b502 . + _:genid-64f25be5d6034e66af719eba4856a993-b501 . - _:genid-524df1dd58a943f5984cb583a6633856-b386 . + _:genid-64f25be5d6034e66af719eba4856a993-b517 . From 79ec8525773399e6b468e04392a790ee990e01da Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9=20Antakli?= Date: Thu, 11 Jan 2024 15:40:37 +0100 Subject: [PATCH 3/5] modeled screwing without returning screwdriver --- .../use-case/behaviors/behaviors.ttl | 5403 ++++++++--------- executionservice/use-case/domains/domain.trig | 2 +- 2 files changed, 2700 insertions(+), 2705 deletions(-) diff --git a/executionservice/use-case/behaviors/behaviors.ttl b/executionservice/use-case/behaviors/behaviors.ttl index 5200485a..7db347a3 100644 --- a/executionservice/use-case/behaviors/behaviors.ttl +++ b/executionservice/use-case/behaviors/behaviors.ttl @@ -8,9 +8,37 @@ rdfs:comment ""; - _:genid-64f25be5d6034e66af719eba4856a993-b498 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b444 . -_:genid-64f25be5d6034e66af719eba4856a993-b373 a , + + a ; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b523; + false; + rdfs:comment ""; + rdfs:label "DeleteBoundaries" . + + + a ; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b459; + false; + rdfs:label "Inserted(Object)"; + rdfs:comment "" . + + + a ; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b449; + false; + rdfs:label "Save History"; + rdfs:comment "" . + + + a ; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b383; + false; + rdfs:label "Save History"; + rdfs:comment "" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b373 a , ; ; """PREFIX ajan: @@ -84,16 +112,16 @@ WHERE { ; ; rdfs:label "ScrewManual(Object)"; - _:genid-64f25be5d6034e66af719eba4856a993-b542 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b542 . rdfs:comment ""; ; ; rdfs:label "Place(Object)"; - _:genid-64f25be5d6034e66af719eba4856a993-b545 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b545 . -_:genid-64f25be5d6034e66af719eba4856a993-b374 a , +_:genid-63f1d5c8b72c490392107b96d80fbd76-b374 a , ; ; """PREFIX ajan: @@ -190,25 +218,30 @@ WHERE { rdfs:label "Place Goal"; rdfs:comment "" . -_:genid-64f25be5d6034e66af719eba4856a993-b375 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b375 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +SELECT ?host ?port ?avatarId WHERE { - ?scene rdf:type mosim:Registry . - ?scene mosim:host ?host . - ?scene mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b376 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b376 a ; ; - """DELETE { - ?s ?p ?o . -} + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { - ?s ?p ?o . - ?s a . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . @@ -223,71 +256,34 @@ WHERE { ; rdfs:comment "" . -_:genid-64f25be5d6034e66af719eba4856a993-b377 a ; - ; - """PREFIX ajan: -PREFIX rdf: -PREFIX test: -PREFIX mosim: - -INSERT { - ?agent mosim:runningTask test:Task . - ?agent mosim:runningOperation test:Operation . - test:Task mosim:step -1 . - test:Task a mosim:Task . - test:Task mosim:operation test:Operation . - - test:Operation mosim:step -1 . - test:Operation a mosim:Operation . - - ?agent mosim:hand \"Right\" . - ?agent mosim:location \"material_station_target\" . -} -WHERE { - ?agent rdf:type ajan:This . -}""" . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b377 a ; + "CONSTRUCT WHERE {?s ?p ?o}"; + . -_:genid-64f25be5d6034e66af719eba4856a993-b378 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b378 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +SELECT ?host ?port ?avatarId WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b379 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b379 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:finalEvent \"PositioningFinished\" ; - mosim:mmu \"Object/Carry\" ; - mosim:actionName \"Carry01\" ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value \"shelf-v1 (1)\" . +PREFIX xsd: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . @@ -296,14 +292,32 @@ WHERE { rdfs:label "Retrieve Goal"; rdfs:comment "" . -_:genid-64f25be5d6034e66af719eba4856a993-b380 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b380 a ; ; - """DELETE { - ?s ?p ?o . + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: + +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:inserted ?mSceneObject ; + mosim:insertedLocation ?insertLocation ; + mosim:insertedConnection ?insertConnection ; + mosim:executedTask ?task . } WHERE { - ?s ?p ?o . - ?s a . + ?agent mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . + + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) }""" . @@ -312,44 +326,64 @@ WHERE { rdfs:label "Walk Goal"; rdfs:comment "" . -_:genid-64f25be5d6034e66af719eba4856a993-b381 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b381 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: +PREFIX xsd: -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve02\" ; - mosim:instructionID ?retrieveID ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +_:genid-63f1d5c8b72c490392107b96d80fbd76-b382 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?port WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b383 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: - mosim:RandomIDs mosim:retrieveID ?retrieveID . +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:walkFrom ?targetID ; + mosim:walkTo ?location ; + mosim:carried ?mSceneObject ; + mosim:executedTask ?task . +} +WHERE { + ?agent mosim:nextLocation ?targetID ; + mosim:location ?location ; + mosim:carrying ?mSceneObject . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b382 a ; + + a ; + ; + rdfs:comment ""; + rdfs:label "UnregisterListener_InitError" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b384 a ; ; """PREFIX mosim: PREFIX rdf: @@ -360,119 +394,49 @@ WHERE { ?cosim mosim:port ?port . }""" . - - a ; + + a ; + rdfs:label "GetBoundary(HandScrew)"; ; rdfs:comment ""; - rdfs:label "UnregisterListener_InitError" . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b411 . -_:genid-64f25be5d6034e66af719eba4856a993-b383 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b385 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b386 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place02\" ; - mosim:startCondition ?startCondition ; - mosim:endCondition ?endCondition ; - mosim:instructionID ?placeID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Release ; - mosim:mmuProperty test:TargetConstraint ; - mosim:mmuProperty test:ReferenceConstraint ; - mosim:constraint ?constraint_1 ; - mosim:constraint ?constraint_2 . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + + a ; + rdfs:label "defaultSequence" . - test:Release mosim:key \"Release\" ; - mosim:value \"false\" . + + a ; + ; + rdfs:comment ""; + rdfs:label "RegisterListener_InitError" . - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?insertConnection . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b387 a ; + ; + """PREFIX mosim: +PREFIX rdf: - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?bound_id . - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . - - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:object ?object_2 . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ?port WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertConnection ?insertConnection . - - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . - - BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) - BIND(CONCAT(?handScrewID, \":end+ 0.01\") AS ?endCondition) - - { SELECT ?constraint_1 - WHERE { - ?agent rdf:type ajan:This ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?insertLocation ; - mosim:constraint ?constraint_1 . - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:id ?insertConnection . - } LIMIT 1 - } - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . - - ?bounderies rdf:type ; - mosim:constraint ?constraint_2 . - - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object_2 . - - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . }""" . - - a ; - rdfs:label "GetBoundary(HandScrew)"; - ; - rdfs:comment ""; - _:genid-64f25be5d6034e66af719eba4856a993-b453 . - -_:genid-64f25be5d6034e66af719eba4856a993-b384 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b388 a ; ; """DELETE { ?s ?p ?o . @@ -482,31 +446,18 @@ WHERE { ?s a . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b385 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b389 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . }""" . - - a ; - rdfs:label "defaultSequence" . - - - a ; - ; - rdfs:comment ""; - rdfs:label "RegisterListener_InitError" . - -_:genid-64f25be5d6034e66af719eba4856a993-b386 a , +_:genid-63f1d5c8b72c490392107b96d80fbd76-b390 a , ; ; """PREFIX ajan: @@ -517,35 +468,39 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:finalEvent \"PositioningFinished\" ; - mosim:mmu \"Object/Carry\" ; - mosim:actionName \"Carry01\" ; - mosim:mmuProperty test:Object . + mosim:mmu \"Locomotion/Walk\" ; + mosim:actionName \"Walk00\" ; + mosim:mmuProperty test:TargetProperty . - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + test:TargetProperty mosim:key \"TargetID\" ; + mosim:value ?id . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . } WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . + ?agent mosim:nextLocation ?targetID . - ?agent rdf:type ajan:This ; - mosim:carrying ?mSceneObject . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?target rdf:type mosim:MSceneObject ; + rdfs:label ?targetID ; + mosim:id ?id . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b387 a ; - "CONSTRUCT WHERE {?s ?p ?o}"; - . + + a ; + ; + rdfs:comment ""; + rdfs:label "UnregisterListener_PositionFinished" . -_:genid-64f25be5d6034e66af719eba4856a993-b388 a , +_:genid-63f1d5c8b72c490392107b96d80fbd76-b391 a , ; ; """PREFIX ajan: @@ -615,122 +570,12 @@ WHERE { mosim:port ?port . }""" . - - a ; - ; - rdfs:comment ""; - rdfs:label "UnregisterListener_PositionFinished" . - -_:genid-64f25be5d6034e66af719eba4856a993-b389 a ; - ; - """PREFIX mosim: - -INSERT { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . -} -WHERE { - BIND(RAND() AS ?rand) - - BIND(CONCAT(\"Retrieve03_ID\", STR(?rand)) AS ?retrieveID) - BIND(CONCAT(\"Place03_ID\", STR(?rand)) AS ?placeID) - BIND(CONCAT(\"Return01_ID\", STR(?rand)) AS ?returnID) - BIND(CONCAT(\"ScrewManual01_ID\", STR(?rand)) AS ?screwManualID) -}""" . - a ; ; rdfs:comment ""; rdfs:label "UnregisterListener_End" . -_:genid-64f25be5d6034e66af719eba4856a993-b390 a ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; - mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; - mosim:constraint ?constraint . - - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . - - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; - mosim:value ?screwdriverObject . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) - - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . - } LIMIT 1 - } - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . - a ; false; @@ -743,22 +588,9 @@ WHERE { rdfs:comment ""; rdfs:label "UnregisterListener_CycleEnd" . -_:genid-64f25be5d6034e66af719eba4856a993-b391 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: - -DELETE { - ?agent mosim:retrieving ?object . -} -INSERT { - ?agent mosim:inHand ?object . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:retrieving ?object . -}""" . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b392 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . a ; @@ -775,82 +607,106 @@ WHERE { a ; rdfs:label "HandleEvent"; rdfs:comment ""; - _:genid-64f25be5d6034e66af719eba4856a993-b493 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b433 . -_:genid-64f25be5d6034e66af719eba4856a993-b392 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b393 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: PREFIX rdf: -PREFIX xsd: +PREFIX mosim: -SELECT ((xsd:int(?int) + 3) as ?port) +CONSTRUCT { + ?agent mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?agent rdf:type ajan:This . + + ?running mosim:runningOperation ?operation . + + ?operation rdf:type mosim:Operation ; + mosim:part ?part ; + mosim:basePart ?basePart ; + mosim:baseMarker ?insertConnection . + + ?instance1 rdf:type mosim:Instance ; + mosim:instanceId ?part ; + mosim:type ?mSceneObject . + + ?instance2 rdf:type mosim:Instance ; + mosim:instanceId ?basePart ; + mosim:type ?insertLocation . }""" . a ; rdfs:label "Parallel"; true; - rdfs:comment ""; - _:genid-64f25be5d6034e66af719eba4856a993-b581 . + rdfs:comment "" . -_:genid-64f25be5d6034e66af719eba4856a993-b393 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b394 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 3) as ?port) +SELECT ?eventType WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + VALUES ?eventType {\"PositioningFinished\"} }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b394 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b395 a ; ; """PREFIX mosim: - -ASK +PREFIX rdf: +SELECT ?host ?port WHERE { - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . - ?task mosim:step ?tStep . - ?operation mosim:step ?sStep . - - { SELECT (COUNT(?someStep)-1 as ?stepCount) - WHERE { - ?running mosim:runningTask ?currTask . - ?currTask a mosim:Task . - ?currTask mosim:operation ?nextOperation . - ?nextOperation mosim:step ?someStep . - } - } + ?scene rdf:type mosim:Registry . + ?scene mosim:host ?host . + ?scene mosim:port ?port . +}""" . - BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?otStep) +_:genid-63f1d5c8b72c490392107b96d80fbd76-b396 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: - BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) - - FILTER(?step = ?newSStep) - FILTER(?ntStep = ?otStep) - - ?newTask a mosim:Task . - ?newTask mosim:step ?ntStep . - ?newTask mosim:operation ?newOperation . - ?newOperation mosim:step ?step . - ?newOperation mosim:type ?type . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:finalEvent \"PositioningFinished\" ; + mosim:mmu \"Object/Carry\" ; + mosim:actionName \"Carry01\" ; + mosim:mmuProperty test:Object . - FILTER CONTAINS(?type,\"Tighten\") + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } -""" . +WHERE { + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:retrieving ?mSceneObject . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . a ; ; rdfs:label "GetBoundary(Carry(Object))"; rdfs:comment ""; - _:genid-64f25be5d6034e66af719eba4856a993-b447 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b396 . a , ; @@ -861,19 +717,9 @@ WHERE { ; rdfs:comment ""; rdfs:label "GetBoundary(Retreive)"; - _:genid-64f25be5d6034e66af719eba4856a993-b454 . - -_:genid-64f25be5d6034e66af719eba4856a993-b395 a ; - ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?eventType -WHERE { - VALUES ?eventType {\"end\"} -}""" . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b412 . -_:genid-64f25be5d6034e66af719eba4856a993-b396 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b397 a ; ; """PREFIX mosim: PREFIX rdf: @@ -884,33 +730,46 @@ WHERE { ?cosim mosim:port ?port . }""" . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b398 a ; + "1"^^xsd:int; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b399 . + a ; ; rdfs:label "HandleEvent"; rdfs:comment ""; - _:genid-64f25be5d6034e66af719eba4856a993-b461 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b425 . -_:genid-64f25be5d6034e66af719eba4856a993-b397 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b399 a ; ; - """PREFIX mosim: + """ PREFIX rdf: -SELECT ?host ?port +PREFIX mosim: + +SELECT (count(?operation) as ?intValue) WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?operation rdf:type mosim:Operation . + ?some mosim:runningOperation ?running . + FILTER (?operation != ?running) }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b398 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b400 a ; + ""; + "5" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b401 a ; ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +DELETE { + ?agent mosim:tightening ?object . +} WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?agent rdf:type ajan:This ; + mosim:tightening ?object . }""" . @@ -919,93 +778,45 @@ WHERE { rdfs:comment ""; rdfs:label "RegisterListener_PositionFinished" . -_:genid-64f25be5d6034e66af719eba4856a993-b399 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b402 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; - mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; - mosim:constraint ?constraint . - - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . - - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; - mosim:value ?screwdriverObject . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . +PREFIX xsd: - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . +SELECT ((xsd:int(?int) + 3) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b403 a ; + ; + """PREFIX mosim: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +DELETE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) - - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . - } LIMIT 1 - } + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . +}""" . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b404 a ; + ; + """PREFIX mosim: +PREFIX rdf: - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b400 a , +_:genid-63f1d5c8b72c490392107b96d80fbd76-b405 a , ; ; """PREFIX ajan: @@ -1015,110 +826,33 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place03\" ; - mosim:startCondition ?startCondition ; - mosim:endCondition ?endCondition ; - mosim:instructionID ?placeID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Release ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve02\" ; + mosim:instructionID ?retrieveID ; + mosim:mmuProperty test:Object . test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - test:Release mosim:key \"Release\" ; - mosim:value \"false\" . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?bound_id . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + mosim:value ?mSceneObject . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) - BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) - - ?bounderies rdf:type ; - mosim:constraint ?constraint . + mosim:inserting ?mSceneObject . - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object . + mosim:RandomIDs mosim:retrieveID ?retrieveID . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b401 a ; - ; - """PREFIX mosim: - -ASK -WHERE { - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . - ?task mosim:step ?tStep . - ?operation mosim:step ?sStep . - - { SELECT (COUNT(?someStep)-1 as ?stepCount) - WHERE { - ?running mosim:runningTask ?currTask . - ?currTask a mosim:Task . - ?currTask mosim:operation ?nextOperation . - ?nextOperation mosim:step ?someStep . - } - } - - BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?otStep) - - BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) - - FILTER(?step = ?newSStep) - FILTER(?ntStep = ?otStep) - - ?newTask a mosim:Task . - ?newTask mosim:step ?ntStep . - ?newTask mosim:operation ?newOperation . - ?newOperation mosim:step ?step . - ?newOperation mosim:type ?type . - - FILTER CONTAINS(?type,\"Tighten\") -} -""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b402 a ; - ; - "" . - a ; rdfs:label "DeleteBoundaries"; @@ -1142,45 +876,18 @@ _:genid-64f25be5d6034e66af719eba4856a993-b402 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b406 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve03\" ; - mosim:instructionID ?retrieveID ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ?host ?port WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:retrieveID ?retrieveID . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b404 a , +_:genid-63f1d5c8b72c490392107b96d80fbd76-b407 a , ; ; """PREFIX ajan: @@ -1190,63 +897,39 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Return01\" ; - mosim:startCondition ?startCondition ; - mosim:instructionID ?returnID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . + mosim:value \"shelf-v1 (1)\" . test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . + mosim:value \"CarryConstraint\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?agent rdf:type ajan:This ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?screwManualID, \":end+ 0.05\") AS ?startCondition) - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwdriverObject ; - mosim:finalLocation ?target . - - ?target rdf:type mosim:FinalLocation ; + ?bounderies rdf:type ; mosim:constraint ?constraint . - + ?constraint rdf:type mosim:MConstraint ; - mosim:id \"ROOT\" ; - mosim:object ?object . + mosim:object ?object . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . @@ -1262,10 +945,46 @@ WHERE { ; ; rdfs:label "Retrieve(Object)"; - _:genid-64f25be5d6034e66af719eba4856a993-b556 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b556 . -_:genid-64f25be5d6034e66af719eba4856a993-b405 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b408 a ; + ; + """PREFIX mosim: + +ASK +WHERE { + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . + + { SELECT (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?currTask . + ?currTask a mosim:Task . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } + } + + BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?otStep) + + BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + + FILTER(?step = ?newSStep) + FILTER(?ntStep = ?otStep) + + ?newTask a mosim:Task . + ?newTask mosim:step ?ntStep . + ?newTask mosim:operation ?newOperation . + ?newOperation mosim:step ?step . + ?newOperation mosim:type ?type . + + FILTER CONTAINS(?type,\"Tighten\") +} +""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b409 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -1374,8 +1093,35 @@ WHERE { rdfs:label "Create Random IDs"; rdfs:comment "" . -_:genid-64f25be5d6034e66af719eba4856a993-b406 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b410 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . + + + a ; + false; + rdfs:label "InHand(Object)"; + rdfs:comment "" . + + + a ; + false; + rdfs:label "At(Target)"; + rdfs:comment "" . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Create Random IDs" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b411 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -1388,8 +1134,6 @@ CONSTRUCT { test:Instruction mosim:mmu \"Object/Screw/Hand\" ; mosim:actionName \"HandScrew01\" ; - mosim:instructionID ?handScrewID ; - mosim:startCondition ?startCondition ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Handedness ; mosim:mmuProperty test:PositionConstraint ; @@ -1414,17 +1158,11 @@ CONSTRUCT { WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - + ?agent rdf:type ajan:This ; mosim:inserting ?mSceneObject ; mosim:insertConnection ?insertConnection . - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . - - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) - { SELECT ?constraint WHERE { ?agent rdf:type ajan:This ; @@ -1456,53 +1194,23 @@ WHERE { mosim:port ?port . }""" . - - a ; - false; - rdfs:label "InHand(Object)"; - rdfs:comment "" . - - - a ; - false; - rdfs:label "At(Target)"; - rdfs:comment "" . - - - a ; - false; - rdfs:comment ""; - rdfs:label "Create Random IDs" . - -_:genid-64f25be5d6034e66af719eba4856a993-b407 a , - ; - ; - "{\"id\":\"Idle Instruction\",\"title\":\"Idle Instruction\",\"description\":\"\",\"nodes\":[\"Action\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"cosim,host,port\",\"parameters\":[]}"; - """PREFIX mosim: -PREFIX rdf: -PREFIX test: +_:genid-63f1d5c8b72c490392107b96d80fbd76-b412 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: CONSTRUCT { - test:Instruction mosim:mmu \"Pose/Idle\" . - test:Instruction mosim:actionName \"Idle\" . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -} -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}"""; - """PREFIX mosim: -PREFIX rdf: -PREFIX test: + test:Instruction mosim:avatarID ?avatarId . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Pose/Idle\" . - test:Instruction mosim:actionName \"Idle\" . + test:Instruction mosim:mmu \"Object/Carry\" . + test:Instruction mosim:actionName \"Carry01\" . + test:Instruction mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" . + test:Object mosim:value \"shelf-v1 (1)\" . ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . @@ -1553,7 +1261,26 @@ WHERE { rdfs:label "Save History"; rdfs:comment "" . -_:genid-64f25be5d6034e66af719eba4856a993-b408 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b413 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +DELETE { + ?agent mosim:location ?target ; + mosim:nextLocation ?newTarget . +} +INSERT { + ?agent mosim:location ?newTarget . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:location ?target ; + mosim:nextLocation ?newTarget . +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b414 a ; ; """PREFIX mosim: PREFIX rdf: @@ -1564,357 +1291,195 @@ WHERE { ?cosim mosim:port ?port . }""" . - - a ; - false; - rdfs:comment ""; - rdfs:label "DeleteBoundaries" . - - - a ; - false; - rdfs:label "Inserted(Object)"; - rdfs:comment "" . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b415 a ; + ; + """PREFIX mosim: +PREFIX rdf: - - a ; - false; - rdfs:label "Save History"; - rdfs:comment "" . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"end\"} +}""" . -_:genid-64f25be5d6034e66af719eba4856a993-b409 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b416 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"initError\"} +}""" . - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place03\" ; - mosim:startCondition ?startCondition ; - mosim:endCondition ?endCondition ; - mosim:instructionID ?placeID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Release ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b417 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: - test:Release mosim:key \"Release\" ; - mosim:value \"false\" . +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:retrieved ?mSceneObject ; + mosim:executedTask ?task . +} +WHERE { + ?agent mosim:retrieving ?mSceneObject . - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?bound_id . + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) +}""" . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + + a , ; + rdfs:label "Retrieve_BT" . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b418 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: +ASK +WHERE { ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) - BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) + mosim:location ?target ; + mosim:nextLocation ?target . +} +""" . - ?bounderies rdf:type ; - mosim:constraint ?constraint . + + rdfs:label "Sequence" . - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b419 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +SELECT ((xsd:int(?int) + 1) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b410 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b420 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: +PREFIX xsd: -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . +SELECT ((xsd:int(?int) + 3) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . - test:Instruction mosim:mmu \"Object/Screw/Hand\" ; - mosim:actionName \"HandScrew01\" ; - mosim:instructionID \"HandScrew01_ID\" ; - mosim:startCondition \"Place02_ID:cycleEnd\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:PositionConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value \"Screw_bigAnnotated (1)\" . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b421 a ; + ; + """PREFIX mosim: +PREFIX rdf: - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"cycleEnd\"} +}""" . - test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value \"Smooth blind hole\" . + + a ; + rdfs:label "defaultSequence"; + rdfs:comment "" . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b422 a , + ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +CONSTRUCT { + ?agent mosim:tightening ?mSceneObject ; + mosim:tighteningTool ?screwdriverObject ; + mosim:tighteningConnection \"Round threaded shaft\" . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . + ?agent rdf:type ajan:This . - { SELECT ?constraint - WHERE { - ?subject rdf:type mosim:MSceneObject ; - rdfs:label \"shelf-v1 (1)\" ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"Smooth blind hole\" . - } LIMIT 1 - } - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + ?running mosim:runningOperation ?operation . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?operation rdf:type mosim:Operation ; + mosim:part ?part ; + mosim:tool ?screwdriverObject . + + ?instance rdf:type mosim:Instance ; + mosim:instanceId ?part ; + mosim:type ?mSceneObject . }""" . - - a ; - false; - rdfs:label "Save History"; - rdfs:comment "" . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b423 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . -_:genid-64f25be5d6034e66af719eba4856a993-b411 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b424 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + """PREFIX mosim: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +INSERT { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:placeing ?mSceneObject . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObject ; - mosim:finalLocation ?target . - - ?target rdf:type mosim:FinalLocation ; - mosim:constraint ?constraint . + BIND(RAND() AS ?rand) - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"ROOT\" ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + BIND(CONCAT(\"Retrieve03_ID\", STR(?rand)) AS ?retrieveID) + BIND(CONCAT(\"Place03_ID\", STR(?rand)) AS ?placeID) + BIND(CONCAT(\"Return01_ID\", STR(?rand)) AS ?returnID) + BIND(CONCAT(\"ScrewManual01_ID\", STR(?rand)) AS ?screwManualID) }""" . - - a , ; - rdfs:label "Retrieve_BT" . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b425 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . -_:genid-64f25be5d6034e66af719eba4856a993-b412 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b426 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 3) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . - - - rdfs:label "Sequence" . - -_:genid-64f25be5d6034e66af719eba4856a993-b413 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve03\" ; - mosim:instructionID ?retrieveID ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ?host ?port ?avatarId WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:retrieveID ?retrieveID . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b414 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b427 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place03\" ; - mosim:endCondition ?endCondition ; - mosim:instructionID ?placeID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Release ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - test:Release mosim:key \"Release\" ; - mosim:value \"false\" . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?bound_id . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +PREFIX xsd: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) - - ?bounderies rdf:type ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object . - - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . - - a ; - rdfs:label "defaultSequence"; - rdfs:comment "" . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b428 a ; + ; + """DELETE { GRAPH ?g { ?s ?p ?o }} +WHERE { GRAPH ?g { ?s ?p ?o }}""" . -_:genid-64f25be5d6034e66af719eba4856a993-b415 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b429 a ; ; """PREFIX mosim: PREFIX rdf: @@ -1925,46 +1490,34 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b416 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b430 a ; ; """PREFIX mosim: - -DELETE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . -} +PREFIX rdf: +SELECT ?host ?port WHERE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b417 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . -}""" . + + a ; + rdfs:label "defaultSequence" . -_:genid-64f25be5d6034e66af719eba4856a993-b418 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b431 a ; ; """PREFIX mosim: PREFIX rdf: PREFIX xsd: -SELECT ((xsd:int(?int) + 1) as ?port) +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { ?a rdf:type mosim:Avatar . ?a mosim:clPort ?int . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b419 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b432 a ; ; """PREFIX mosim: PREFIX rdf: @@ -1978,163 +1531,318 @@ WHERE { ?avatar mosim:id ?avatarId . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b420 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b433 a ; + "CONSTRUCT WHERE {?s ?p ?o}"; + . + + + a ; + rdfs:label "defaultSequence" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b434 a ; ; """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 2) as ?port) +ASK WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + { SELECT DISTINCT ?otStep ?sStep ?tStep (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . + + BIND (IF (?tStep = -1, 0, IF (?sStep > 0, ?tStep, ?tStep-1)) AS ?otStep) + + FILTER (?step = ?otStep) + + ?currTask a mosim:Task . + ?currTask mosim:step ?step . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } GROUP BY ?otStep ?sStep ?tStep + } + + BIND (IF (?tStep > ?otStep, ?stepCount, ?sStep - 1) AS ?newSStep) + + FILTER(?step = ?newSStep) + FILTER(?ntStep = ?otStep) + + ?newTask a mosim:Task . + ?newTask mosim:step ?ntStep . + ?newTask mosim:operation ?newOperation . + ?newOperation mosim:step ?step . + ?newOperation mosim:type ?type . + + FILTER CONTAINS(?type,\"Tighten\") +} +""" . -_:genid-64f25be5d6034e66af719eba4856a993-b421 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b435 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 2) as ?port) +SELECT ?port WHERE { ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?a mosim:clPort ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b422 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b436 a ; + ; + """ASK WHERE {?s ?p ?o} +""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b437 a ; ; """PREFIX rdf: PREFIX ajan: PREFIX mosim: DELETE { - ?agent mosim:tightening ?object . + ?agent mosim:retrieving ?object . +} +INSERT { + ?agent mosim:inHand ?object . } WHERE { ?agent rdf:type ajan:This ; - mosim:tightening ?object . + mosim:retrieving ?object . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b423 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b438 a ; ; """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 1) as ?port) +INSERT { + ?running mosim:nextTaskStep ?newTStep . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . + + { SELECT (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?currTask . + ?currTask a mosim:Task . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } + } - - a ; - rdfs:label "defaultSequence" . + BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?newTStep) +}""" . -_:genid-64f25be5d6034e66af719eba4856a993-b424 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b439 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId +SELECT ?host ?port WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . +}""" . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b440 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?scene rdf:type mosim:Registry . + ?scene mosim:host ?host . + ?scene mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b425 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b441 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 2) as ?port) +SELECT ?eventType WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + VALUES ?eventType {\"end\"} }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b426 a ; - ""; - "5" . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b442 a , + ; + ; + """PREFIX rdfs: +PREFIX rdf: +PREFIX ajan: +PREFIX mosim: - - a ; - rdfs:label "defaultSequence" . +CONSTRUCT { + ?agent mosim:nextLocation ?targetID ; + mosim:carrying ?mSceneObject . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObject ; + mosim:finalLocation ?final . + + ?area rdf:type mosim:Area ; + mosim:hasChild ?final ; + mosim:hasChild ?target . + + ?target rdf:type mosim:WalkTarget ; + rdfs:label ?targetID . +}""" . -_:genid-64f25be5d6034e66af719eba4856a993-b427 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b443 a , + ; ; - """PREFIX mosim: + """PREFIX rdfs: PREFIX rdf: +PREFIX ajan: +PREFIX mosim: -SELECT ?eventType +CONSTRUCT { + ?agent mosim:retrieving ?mSceneObject . +} WHERE { - VALUES ?eventType {\"initError\"} + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b428 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b444 a ; ; + "{\"id\":\"Query Host\",\"title\":\"Query Host\",\"description\":\"\",\"nodes\":[\"All\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"host,port,cosim,type\",\"parameters\":[{\"label\":\"Host Type\",\"variable\":\"type\",\"variableBinding\":\"mosim:Scene\",\"title\":\"Host Type\",\"mode\":\"Dropdown\",\"note\":null,\"sparql\":{\"query\":\"undefined\"},\"possibleValues\":[{\"label\":\"CoSimulator\",\"dataValue\":\"mosim:CoSimulator\"},{\"label\":\"Registry\",\"dataValue\":\"mosim:Registry\"},{\"label\":\"Scene\",\"dataValue\":\"mosim:Scene\"}]}]}"; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type ?type . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}"""; """PREFIX mosim: PREFIX rdf: SELECT ?host ?port WHERE { - ?cosim rdf:type mosim:CoSimulator . + ?cosim rdf:type mosim:Scene . ?cosim mosim:host ?host . ?cosim mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b429 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b445 a ; ; - """DELETE { - ?s ?p ?o . + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: + +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:placed ?mSceneObject ; + mosim:executedTask ?task . } WHERE { - ?s ?p ?o . - ?s a . + ?agent mosim:placeing ?mSceneObject . + + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b430 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b446 a ; ; """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . -ASK + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b447 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . - ?task mosim:step ?tStep . - ?operation mosim:step ?sStep . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . - BIND (IF (?tStep = -1, 0, IF (?sStep > 0, ?tStep, ?tStep - 1)) AS ?otStep) +_:genid-63f1d5c8b72c490392107b96d80fbd76-b448 a ; + ; + """PREFIX rdfs: +PREFIX rdf: +PREFIX mosim: +PREFIX ajan: - { SELECT (COUNT(?someStep)-1 as ?stepCount) - WHERE { - ?currTask a mosim:Task . - ?currTask mosim:step ?otStep . - ?currTask mosim:operation ?nextOperation . - ?nextOperation mosim:step ?someStep . - } - } +DELETE { + ?agent mosim:positioning ?mSceneObject . + + ?oldArea mosim:hasChild ?object . +} +INSERT { + ?newArea mosim:hasChild ?object . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . - BIND (IF (?tStep > ?otStep, ?stepCount, ?sStep - 1) AS ?newSStep) + ?oldArea rdf:type mosim:Area; + mosim:hasChild ?object . - FILTER(?step = ?newSStep) - FILTER(?ntStep = ?otStep) + ?object rdf:type mosim:MSceneObject; + rdfs:label ?mSceneObject ; + mosim:finalLocation ?final . - ?newTask a mosim:Task . - ?newTask mosim:step ?ntStep . - ?newTask mosim:operation ?newOperation . - ?newOperation mosim:step ?step . - ?newOperation mosim:type ?type . - - FILTER CONTAINS(?type,\"Tighten\") + ?newArea rdf:type mosim:Area; + mosim:hasChild ?final . +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b449 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: + +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:walkFrom ?location ; + mosim:walkTo ?targetID ; + mosim:executedTask ?task . } -""" . +WHERE { + ?agent mosim:location ?location ; + mosim:nextLocation ?targetID . + + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b450 a ; + ; + "" . -_:genid-64f25be5d6034e66af719eba4856a993-b431 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b451 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -2199,43 +1907,42 @@ WHERE { mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b432 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b452 a ; ; """PREFIX mosim: PREFIX rdf: +PREFIX xsd: -SELECT ?port +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . + ?a mosim:clPort ?int . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b433 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b453 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 1) as ?port) +SELECT ?eventType WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + VALUES ?eventType {\"initError\"} }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b434 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b454 a ; ; """PREFIX mosim: PREFIX rdf: PREFIX xsd: -SELECT ((xsd:int(?int) + 2) as ?port) +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { ?a rdf:type mosim:Avatar . ?a mosim:clPort ?int . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b435 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b455 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -2245,39 +1952,31 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve02\" ; - mosim:instructionID \"Retrieve02_ID\" ; + mosim:finalEvent \"PositioningFinished\" ; + mosim:mmu \"Object/Carry\" ; + mosim:actionName \"Carry01\" ; mosim:mmuProperty test:Object . test:Object mosim:key \"Object\" ; - mosim:value \"Screw_bigAnnotated (1)\" . + mosim:value ?mSceneObject . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . + ?agent rdf:type ajan:This ; + mosim:carrying ?mSceneObject . -_:genid-64f25be5d6034e66af719eba4856a993-b436 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b437 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b456 a ; ; """PREFIX mosim: PREFIX rdf: @@ -2289,27 +1988,39 @@ WHERE { ?a mosim:clPort ?int . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b438 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b457 a ; ; """PREFIX mosim: -PREFIX rdf: -SELECT ?eventType +DELETE { + ?running mosim:nextTaskStep ?otStep . + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . +} +INSERT { + ?running mosim:runningOperation ?newOperation . + ?running mosim:runningTask ?newTask . +} WHERE { - VALUES ?eventType {\"initError\"} -}""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b439 a ; - ; - """PREFIX mosim: -PREFIX rdf: + ?running mosim:nextTaskStep ?otStep . + ?running mosim:runningTask ?task . + ?task mosim:step ?tStep . + + ?running mosim:runningOperation ?operation . + ?operation mosim:step ?sStep . -SELECT ?eventType -WHERE { - VALUES ?eventType {\"PositioningFinished\"} + BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + + FILTER(?step = ?newSStep) + FILTER(?ntStep = ?otStep) + + ?newTask a mosim:Task . + ?newTask mosim:step ?ntStep . + ?newTask mosim:operation ?newOperation . + ?newOperation mosim:step ?step . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b440 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b458 a ; ; """PREFIX mosim: PREFIX rdf: @@ -2320,29 +2031,33 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b441 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b459 a ; ; - """PREFIX mosim: -PREFIX rdf: + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: -SELECT ?port +DELETE { + ?agent mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b442 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b460 a , + ; ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port + """SELECT ?requestURI WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + VALUES ?requestURI {\"https://teaching-taskeditor.aitoc.eu/api.php?action=getTaskList&station=127&format=AITOCJSON&token=feg5RNmKunfWODU9sfIeyMEIdLVHY8\"} }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b443 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b461 a ; ; """PREFIX mosim: PREFIX rdf: @@ -2353,147 +2068,99 @@ WHERE { ?a mosim:clPort ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b444 a , +_:genid-63f1d5c8b72c490392107b96d80fbd76-b462 a , ; ; """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: PREFIX rdf: -PREFIX test: +PREFIX mosim: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Locomotion/Walk\" ; - mosim:actionName \"Walk00\" ; - mosim:mmuProperty test:TargetProperty . - - test:TargetProperty mosim:key \"TargetID\" ; - mosim:value ?id . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?agent mosim:positioning ?mSceneObject . } WHERE { - ?agent mosim:nextLocation ?targetID . - - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . + ?agent rdf:type ajan:This . - ?target rdf:type mosim:MSceneObject ; - rdfs:label ?targetID ; - mosim:id ?id . + ?running mosim:runningOperation ?operation . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?operation rdf:type mosim:Operation ; + mosim:part ?part . + + ?instance rdf:type mosim:Instance ; + mosim:instanceId ?part ; + mosim:type ?mSceneObject . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b445 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b463 a ; + "1"^^xsd:int; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b464 . + + + a ; + rdfs:label "defaultSequence" . -_:genid-64f25be5d6034e66af719eba4856a993-b446 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b464 a ; ; - """PREFIX mosim: + """ PREFIX rdf: +PREFIX mosim: -SELECT ?eventType +SELECT ?intValue WHERE { - VALUES ?eventType {\"PositioningFinished\"} + ?operation rdf:type mosim:Operation . + ?operation mosim:type ?type . + BIND ( + IF ( CONTAINS(?type,\"Position\"), 1, + IF ( CONTAINS(?type,\"Insert\"), 2, + IF ( CONTAINS(?type,\"Press\"), 3, + IF ( CONTAINS(?type,\"Tighten\"), 4, + IF ( CONTAINS(?type,\"Check\"), 5, + 0 ))))) as ?intValue) + { SELECT ?operation + WHERE { + ?running mosim:runningOperation ?operation . + }} }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b447 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b465 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:finalEvent \"PositioningFinished\" ; - mosim:mmu \"Object/Carry\" ; - mosim:actionName \"Carry01\" ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ?host ?port WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:retrieving ?mSceneObject . - ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b448 a ; - "1"^^xsd:int; - _:genid-64f25be5d6034e66af719eba4856a993-b449 . - -_:genid-64f25be5d6034e66af719eba4856a993-b449 a ; - ; - """ -PREFIX rdf: -PREFIX mosim: - -SELECT (count(?operation) as ?intValue) -WHERE { - ?operation rdf:type mosim:Operation . - ?some mosim:runningOperation ?running . - FILTER (?operation != ?running) -}""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b450 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b466 a ; ; """PREFIX mosim: PREFIX rdf: PREFIX xsd: -SELECT ((xsd:int(?int) + 3) as ?port) +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { ?a rdf:type mosim:Avatar . ?a mosim:clPort ?int . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b451 a ; - ; - """PREFIX mosim: - -DELETE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . -} -WHERE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . -}""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b452 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b467 a ; ; """PREFIX mosim: PREFIX rdf: - -SELECT ?port +SELECT ?host ?port ?avatarId WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b453 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b468 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -2504,26 +2171,37 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Object/Screw/Hand\" ; - mosim:actionName \"HandScrew01\" ; + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place02\" ; + mosim:startCondition \"Retrieve02_ID:end\" ; + mosim:endCondition \"HandScrew01_ID:end+ 0.01\" ; + mosim:instructionID \"Place02_ID\" ; mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:PositionConstraint ; - mosim:constraint ?constraint . + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + mosim:value \"Screw_bigAnnotated (1)\" . - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . - test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value ?insertConnection . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"Smooth blind hole\" . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?bound_id . - ?cosim rdf:type mosim:CoSimulator ; + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . + + ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . } @@ -2531,29 +2209,28 @@ WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertConnection ?insertConnection . - - { SELECT ?constraint + { SELECT ?constraint_1 WHERE { - ?agent rdf:type ajan:This ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?insertLocation ; - mosim:constraint ?constraint . + rdfs:label \"shelf-v1 (1)\" ; + mosim:constraint ?constraint_1 . - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?insertConnection . + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id \"Smooth blind hole\" . } LIMIT 1 } + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + ?bounderies rdf:type ; + mosim:constraint ?constraint_2 . - { SELECT ?cosim + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object_2 . + + { SELECT ?cosim WHERE { ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -2566,7 +2243,8 @@ WHERE { mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b454 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b469 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -2575,29 +2253,78 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Carry\" . - test:Instruction mosim:actionName \"Carry01\" . - test:Instruction mosim:mmuProperty test:Object . + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Locomotion/Walk\" ; + mosim:actionName \"Walk01\" ; + mosim:mmuProperty test:TargetProperty . - test:Object mosim:key \"Object\" . - test:Object mosim:value \"shelf-v1 (1)\" . + test:TargetProperty mosim:key \"TargetID\" ; + mosim:value ?id . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?target rdf:type mosim:MSceneObject ; + rdfs:label \"WalkTarget\" ; + mosim:id ?id . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + + + a ; + ; + ; + true; + rdfs:label "Return(Object)"; + rdfs:comment ""; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b559 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b470 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 3) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b471 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b472 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b455 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b473 a ; ; """PREFIX rdf: PREFIX ajan: @@ -2605,7 +2332,8 @@ PREFIX mosim: DELETE { ?agent mosim:location ?target ; - mosim:nextLocation ?newTarget . + mosim:nextLocation ?newTarget ; + mosim:carrying ?object . } INSERT { ?agent mosim:location ?newTarget . @@ -2613,150 +2341,151 @@ INSERT { WHERE { ?agent rdf:type ajan:This ; mosim:location ?target ; - mosim:nextLocation ?newTarget . + mosim:nextLocation ?newTarget; + mosim:carrying ?object . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b456 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b474 a ; ; """PREFIX mosim: PREFIX rdf: - -SELECT ?eventType +SELECT ?host ?port WHERE { - VALUES ?eventType {\"end\"} + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b457 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b475 a ; + "CONSTRUCT WHERE {?s ?p ?o}"; + . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b476 a ; ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: + """PREFIX mosim: INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:retrieved ?mSceneObject ; - mosim:executedTask ?task . + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . } WHERE { - ?agent mosim:retrieving ?mSceneObject . - - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) + BIND(RAND() AS ?rand) - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) + BIND(CONCAT(\"Retrieve02_ID\", STR(?rand)) AS ?retrieveID) + BIND(CONCAT(\"Place02_ID\", STR(?rand)) AS ?placeID) + BIND(CONCAT(\"HandScrew01_ID\", STR(?rand)) AS ?handScrewID) }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b458 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b477 a , + ; ; - """PREFIX rdf: -PREFIX ajan: + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: +PREFIX rdf: +PREFIX test: -ASK -WHERE { - ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?target . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:finalEvent \"PositioningFinished\" ; + mosim:mmu \"Object/Carry\" ; + mosim:actionName \"Carry01\" ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value \"shelf-v1 (1)\" . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } -""" . +WHERE { + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . - - a ; - rdfs:label "defaultSequence" . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . -_:genid-64f25be5d6034e66af719eba4856a993-b459 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b478 a ; ; """PREFIX mosim: PREFIX rdf: +PREFIX xsd: -SELECT ?eventType +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { - VALUES ?eventType {\"cycleEnd\"} + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b460 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b479 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b480 a ; ; """PREFIX rdf: PREFIX mosim: PREFIX ajan: -CONSTRUCT { - ?agent mosim:tightening ?mSceneObject ; - mosim:tighteningTool ?screwdriverObject ; - mosim:tighteningConnection \"Round threaded shaft\" . +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:positioned ?mSceneObject ; + mosim:executedTask ?task . } WHERE { - ?agent rdf:type ajan:This . - - ?running mosim:runningOperation ?operation . + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . - ?operation rdf:type mosim:Operation ; - mosim:part ?part ; - mosim:tool ?screwdriverObject . - - ?instance rdf:type mosim:Instance ; - mosim:instanceId ?part ; - mosim:type ?mSceneObject . + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b461 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . - -_:genid-64f25be5d6034e66af719eba4856a993-b462 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b481 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId +SELECT ?host ?port WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b463 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b482 a ; ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: -SELECT ((xsd:int(?int) + 2) as ?port) +DELETE { + ?agent mosim:inHand ?object ; + mosim:placeing ?object . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?agent rdf:type ajan:This ; + mosim:inHand ?object ; + mosim:placeing ?object . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b464 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . - - - a ; - ; - ; - true; - rdfs:label "Return(Object)"; - rdfs:comment ""; - _:genid-64f25be5d6034e66af719eba4856a993-b559 . - -_:genid-64f25be5d6034e66af719eba4856a993-b465 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b483 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -2765,181 +2494,492 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Locomotion/Walk\" ; - mosim:actionName \"Walk01\" ; - mosim:mmuProperty test:TargetProperty . + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint . - test:TargetProperty mosim:key \"TargetID\" ; - mosim:value ?id . + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . + + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . - ?target rdf:type mosim:MSceneObject ; - rdfs:label \"WalkTarget\" ; - mosim:id ?id . + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b466 a ; + + a ; + ; + rdfs:label "HandleEvent"; + rdfs:comment ""; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b423 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b484 a , + ; ; - """PREFIX rdf: + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: -PREFIX ajan: +PREFIX rdf: +PREFIX test: -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:positioned ?mSceneObject ; - mosim:executedTask ?task . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint . + + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . + + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . - ?running mosim:runningTask ?task . + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . - BIND (NOW() AS ?date) + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b467 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b485 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +PREFIX xsd: + +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b468 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b486 a , + ; ; - """PREFIX rdf: + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: -PREFIX ajan: +PREFIX rdf: +PREFIX test: -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:placed ?mSceneObject ; - mosim:executedTask ?task . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place03\" ; + mosim:startCondition ?startCondition ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . + + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?bound_id . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { - ?agent mosim:placeing ?mSceneObject . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) + + ?bounderies rdf:type ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b469 a , +_:genid-63f1d5c8b72c490392107b96d80fbd76-b487 a , ; ; - """SELECT ?requestURI + """PREFIX rdfs: +PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +CONSTRUCT { + ?agent mosim:placeing ?mSceneObject . +} WHERE { - VALUES ?requestURI {\"https://teaching-taskeditor.aitoc.eu/api.php?action=getTaskList&station=127&format=AITOCJSON&token=feg5RNmKunfWODU9sfIeyMEIdLVHY8\"} + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b470 a ; + + a ; + ; + rdfs:comment ""; + rdfs:label "GetBoundary(Place)"; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b451 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b488 a ; ; """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port + +ASK WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . + + { SELECT (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?currTask . + ?currTask a mosim:Task . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } + } -_:genid-64f25be5d6034e66af719eba4856a993-b471 a ; - ; - """ASK WHERE {?s ?p ?o} + BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?otStep) + + BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + + FILTER(?step = ?newSStep) + FILTER(?ntStep = ?otStep) + + ?newTask a mosim:Task . + ?newTask mosim:step ?ntStep . + ?newTask mosim:operation ?newOperation . + ?newOperation mosim:step ?step . + ?newOperation mosim:type ?type . + + FILTER CONTAINS(?type,\"Tighten\") +} """ . -_:genid-64f25be5d6034e66af719eba4856a993-b472 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b489 a ; ; - """PREFIX rdfs: + """PREFIX mosim: PREFIX rdf: -PREFIX ajan: + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"PositioningFinished\"} +}""" . + + + a ; + true; + rdfs:comment ""; + rdfs:label "PrioParallel" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b490 a ; + ; + "" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b491 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: +PREFIX rdf: +PREFIX test: CONSTRUCT { - ?agent mosim:nextLocation ?targetID . + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place02\" ; + mosim:startCondition ?startCondition ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?insertConnection . + + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?bound_id . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . + mosim:inserting ?mSceneObject ; + mosim:insertConnection ?insertConnection . + + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . + + BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) + BIND(CONCAT(?handScrewID, \":end+ 0.01\") AS ?endCondition) + + { SELECT ?constraint_1 + WHERE { + ?agent rdf:type ajan:This ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?insertLocation ; + mosim:constraint ?constraint_1 . - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObject . + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id ?insertConnection . + } LIMIT 1 + } - ?area rdf:type mosim:Area ; - mosim:hasChild ?subject ; - mosim:hasChild ?target . - - ?target rdf:type mosim:WalkTarget ; - rdfs:label ?targetID . + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + ?bounderies rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object_2 . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b473 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b492 a ; ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX ajan: -PREFIX mosim: - -CONSTRUCT { - ?agent mosim:retrieving ?mSceneObject . + """DELETE { + ?s ?p ?o . } WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . + ?s ?p ?o . + ?s a . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b474 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b493 a , + ; ; """PREFIX ajan: -PREFIX rdf: +PREFIX rdfs: PREFIX mosim: +PREFIX rdf: +PREFIX test: CONSTRUCT { - ?agent mosim:positioning ?mSceneObject . + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve03\" ; + mosim:instructionID ?retrieveID ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { - ?agent rdf:type ajan:This . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - ?running mosim:runningOperation ?operation . + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . - ?operation rdf:type mosim:Operation ; - mosim:part ?part . - - ?instance rdf:type mosim:Instance ; - mosim:instanceId ?part ; - mosim:type ?mSceneObject . + mosim:RandomIDs mosim:retrieveID ?retrieveID . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b475 a , +_:genid-63f1d5c8b72c490392107b96d80fbd76-b494 a ; + ""; + "5" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b495 a , ; ; """PREFIX ajan: @@ -2949,198 +2989,111 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Return01\" ; + mosim:startCondition ?startCondition ; + mosim:instructionID ?returnID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value \"shelf-v1 (1)\" . + mosim:value ?screwdriverObject . test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . + mosim:value \"ROOT\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?subject rdf:type mosim:MSceneObject ; - rdfs:label \"shelf-v1 (1)\" ; + ?agent rdf:type ajan:This ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?screwManualID, \":end+ 0.05\") AS ?startCondition) + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwdriverObject ; mosim:finalLocation ?target . ?target rdf:type mosim:FinalLocation ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; + mosim:id \"ROOT\" ; mosim:object ?object . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b476 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b477 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: - -DELETE { - ?agent mosim:inHand ?object ; - mosim:placeing ?object . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:inHand ?object ; - mosim:placeing ?object . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . - + a ; - ; + ; rdfs:label "HandleEvent"; rdfs:comment ""; - _:genid-64f25be5d6034e66af719eba4856a993-b488 . - -_:genid-64f25be5d6034e66af719eba4856a993-b478 a ; - ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?eventType -WHERE { - VALUES ?eventType {\"cycleEnd\"} -}""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b479 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b386 . -_:genid-64f25be5d6034e66af719eba4856a993-b480 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b496 a , + ; ; - """PREFIX rdf: + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: -PREFIX ajan: - -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:inserted ?mSceneObject ; - mosim:insertedLocation ?insertLocation ; - mosim:insertedConnection ?insertConnection ; - mosim:executedTask ?task . -} -WHERE { - ?agent mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . - - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) -}""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b481 a ; - ; - """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - - - a ; - ; - rdfs:comment ""; - rdfs:label "GetBoundary(Place)"; - _:genid-64f25be5d6034e66af719eba4856a993-b431 . +PREFIX test: -_:genid-64f25be5d6034e66af719eba4856a993-b482 a ; - ; - """PREFIX mosim: -PREFIX rdf: +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Locomotion/Walk\" ; + mosim:actionName \"Walk01\" ; + mosim:mmuProperty test:TargetProperty . + + test:TargetProperty mosim:key \"TargetID\" ; + mosim:value ?id . -SELECT ?port + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b483 a ; - ; - """DELETE { GRAPH ?g { ?s ?p ?o }} -WHERE { GRAPH ?g { ?s ?p ?o }}""" . - - - a ; - true; - rdfs:comment ""; - rdfs:label "PrioParallel" . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . -_:genid-64f25be5d6034e66af719eba4856a993-b484 a , - ; - ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX ajan: -PREFIX mosim: + ?agent mosim:nextLocation ?newTarget . -CONSTRUCT { - ?agent mosim:placeing ?mSceneObject . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . -}""" . + ?target rdf:type mosim:MSceneObject ; + rdfs:label ?newTarget ; + mosim:id ?id . -_:genid-64f25be5d6034e66af719eba4856a993-b485 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b486 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b497 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -3149,125 +3102,162 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; mosim:constraint ?constraint . - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"CarryConstraint\" . + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - + ?agent rdf:type ajan:This ; - mosim:retrieving ?mSceneObject . + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . - ?bounderies rdf:type ; - mosim:constraint ?constraint . + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + mosim:object ?object . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b487 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b498 a , + ; ; """PREFIX ajan: -PREFIX rdf: +PREFIX rdfs: PREFIX mosim: +PREFIX rdf: +PREFIX test: CONSTRUCT { - ?agent mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . -} -WHERE { - ?agent rdf:type ajan:This . - - ?running mosim:runningOperation ?operation . + test:Instruction mosim:avatarID ?avatarId . - ?operation rdf:type mosim:Operation ; - mosim:part ?part ; - mosim:basePart ?basePart ; - mosim:baseMarker ?insertConnection . - - ?instance1 rdf:type mosim:Instance ; - mosim:instanceId ?part ; - mosim:type ?mSceneObject . - - ?instance2 rdf:type mosim:Instance ; - mosim:instanceId ?basePart ; - mosim:type ?insertLocation . -}""" . + test:Instruction mosim:mmu \"Object/Screw/Hand\" ; + mosim:actionName \"HandScrew01\" ; + mosim:instructionID ?handScrewID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:PositionConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . -_:genid-64f25be5d6034e66af719eba4856a993-b488 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . -_:genid-64f25be5d6034e66af719eba4856a993-b489 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + test:PositionConstraint mosim:key \"PositionConstraint\" ; + mosim:value ?insertConnection . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . - - a ; - ; - rdfs:label "HandleEvent"; - rdfs:comment ""; - _:genid-64f25be5d6034e66af719eba4856a993-b490 . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject ; + mosim:insertConnection ?insertConnection . -_:genid-64f25be5d6034e66af719eba4856a993-b490 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . + + BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) -_:genid-64f25be5d6034e66af719eba4856a993-b491 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?insertLocation ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?insertConnection . + } LIMIT 1 + } -_:genid-64f25be5d6034e66af719eba4856a993-b492 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . @@ -3275,61 +3265,63 @@ WHERE { true; rdfs:comment ""; rdfs:label "Parallel"; - _:genid-64f25be5d6034e66af719eba4856a993-b578 . - -_:genid-64f25be5d6034e66af719eba4856a993-b493 a ; - "CONSTRUCT WHERE {?s ?p ?o}"; - . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b578 . -_:genid-64f25be5d6034e66af719eba4856a993-b494 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b499 a , + ; ; - """PREFIX mosim: + "{\"id\":\"Idle Instruction\",\"title\":\"Idle Instruction\",\"description\":\"\",\"nodes\":[\"Action\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"cosim,host,port\",\"parameters\":[]}"; + """PREFIX mosim: PREFIX rdf: +PREFIX test: -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b495 a ; - ; - """PREFIX mosim: +CONSTRUCT { + test:Instruction mosim:mmu \"Pose/Idle\" . + test:Instruction mosim:actionName \"Idle\" . -INSERT { - ?running mosim:nextTaskStep ?newTStep . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . } WHERE { - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . - ?task mosim:step ?tStep . - ?operation mosim:step ?sStep . - - { SELECT (COUNT(?someStep)-1 as ?stepCount) - WHERE { - ?running mosim:runningTask ?currTask . - ?currTask a mosim:Task . - ?currTask mosim:operation ?nextOperation . - ?nextOperation mosim:step ?someStep . - } - } + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}"""; + """PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + test:Instruction mosim:mmu \"Pose/Idle\" . + test:Instruction mosim:actionName \"Idle\" . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . - BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?newTStep) + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b496 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b500 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port + +SELECT ?eventType WHERE { - ?scene rdf:type mosim:Registry . - ?scene mosim:host ?host . - ?scene mosim:port ?port . + VALUES ?eventType {\"cycleEnd\"} }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b497 a , - ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b501 a , + ; ; """PREFIX rdfs: PREFIX rdf: @@ -3337,238 +3329,182 @@ PREFIX ajan: PREFIX mosim: CONSTRUCT { - ?agent mosim:nextLocation ?targetID ; - mosim:carrying ?mSceneObject . + ?agent mosim:nextLocation ?targetID . } WHERE { ?agent rdf:type ajan:This ; mosim:positioning ?mSceneObject . ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObject ; - mosim:finalLocation ?final . + rdfs:label ?mSceneObject . ?area rdf:type mosim:Area ; - mosim:hasChild ?final ; + mosim:hasChild ?subject ; mosim:hasChild ?target . ?target rdf:type mosim:WalkTarget ; rdfs:label ?targetID . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b498 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b502 a ; ; - "{\"id\":\"Query Host\",\"title\":\"Query Host\",\"description\":\"\",\"nodes\":[\"All\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"host,port,cosim,type\",\"parameters\":[{\"label\":\"Host Type\",\"variable\":\"type\",\"variableBinding\":\"mosim:Scene\",\"title\":\"Host Type\",\"mode\":\"Dropdown\",\"note\":null,\"sparql\":{\"query\":\"undefined\"},\"possibleValues\":[{\"label\":\"CoSimulator\",\"dataValue\":\"mosim:CoSimulator\"},{\"label\":\"Registry\",\"dataValue\":\"mosim:Registry\"},{\"label\":\"Scene\",\"dataValue\":\"mosim:Scene\"}]}]}"; - """PREFIX mosim: + """PREFIX mosim: PREFIX rdf: SELECT ?host ?port WHERE { - ?cosim rdf:type ?type . + ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . -}"""; - """PREFIX mosim: +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b503 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"CarryConstraint\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - ?cosim rdf:type mosim:Scene . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:retrieving ?mSceneObject . + + ?bounderies rdf:type ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b499 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b504 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId +SELECT ?host ?port WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b500 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b505 a ; ; - """PREFIX rdfs: + """PREFIX mosim: PREFIX rdf: -PREFIX mosim: -PREFIX ajan: - -DELETE { - ?agent mosim:positioning ?mSceneObject . - - ?oldArea mosim:hasChild ?object . -} -INSERT { - ?newArea mosim:hasChild ?object . -} +SELECT ?host ?port WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . - - ?oldArea rdf:type mosim:Area; - mosim:hasChild ?object . - - ?object rdf:type mosim:MSceneObject; - rdfs:label ?mSceneObject ; - mosim:finalLocation ?final . - - ?newArea rdf:type mosim:Area; - mosim:hasChild ?final . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . a ; rdfs:label "defaultPriority" . -_:genid-64f25be5d6034e66af719eba4856a993-b501 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b506 a , + ; ; - """PREFIX rdf: + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: -PREFIX ajan: - -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:walkFrom ?location ; - mosim:walkTo ?targetID ; - mosim:executedTask ?task . -} -WHERE { - ?agent mosim:location ?location ; - mosim:nextLocation ?targetID . - - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) -}""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b502 a ; - ; - "" . - -_:genid-64f25be5d6034e66af719eba4856a993-b503 a ; - ; - """PREFIX mosim: PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +PREFIX test: -_:genid-64f25be5d6034e66af719eba4856a993-b504 a ; - ; - """PREFIX mosim: +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . -DELETE { - ?running mosim:nextTaskStep ?otStep . - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . -} -INSERT { - ?running mosim:runningOperation ?newOperation . - ?running mosim:runningTask ?newTask . -} -WHERE { - ?running mosim:nextTaskStep ?otStep . - ?running mosim:runningTask ?task . - ?task mosim:step ?tStep . + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place03\" ; + mosim:startCondition ?startCondition ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . - ?running mosim:runningOperation ?operation . - ?operation mosim:step ?sStep . - - BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) - - FILTER(?step = ?newSStep) - FILTER(?ntStep = ?otStep) - - ?newTask a mosim:Task . - ?newTask mosim:step ?ntStep . - ?newTask mosim:operation ?newOperation . - ?newOperation mosim:step ?step . -}""" . + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . -_:genid-64f25be5d6034e66af719eba4856a993-b505 a ; - ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . -DELETE { - ?agent mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . -}""" . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?bound_id . -_:genid-64f25be5d6034e66af719eba4856a993-b506 a ; - ; - """PREFIX mosim: -PREFIX rdf: + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -SELECT ?port + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b507 a ; - "1"^^xsd:int; - _:genid-64f25be5d6034e66af719eba4856a993-b508 . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . -_:genid-64f25be5d6034e66af719eba4856a993-b508 a ; - ; - """ -PREFIX rdf: -PREFIX mosim: + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . -SELECT ?intValue -WHERE { - ?operation rdf:type mosim:Operation . - ?operation mosim:type ?type . - BIND ( - IF ( CONTAINS(?type,\"Position\"), 1, - IF ( CONTAINS(?type,\"Insert\"), 2, - IF ( CONTAINS(?type,\"Press\"), 3, - IF ( CONTAINS(?type,\"Tighten\"), 4, - IF ( CONTAINS(?type,\"Check\"), 5, - 0 ))))) as ?intValue) - { SELECT ?operation - WHERE { - ?running mosim:runningOperation ?operation . - }} -}""" . + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) -_:genid-64f25be5d6034e66af719eba4856a993-b509 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?bounderies rdf:type ; + mosim:constraint ?constraint . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b510 a , +_:genid-63f1d5c8b72c490392107b96d80fbd76-b507 a , ; ; """PREFIX ajan: @@ -3580,35 +3516,26 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place02\" ; - mosim:startCondition \"Retrieve02_ID:end\" ; - mosim:endCondition \"HandScrew01_ID:end+ 0.01\" ; - mosim:instructionID \"Place02_ID\" ; + test:Instruction mosim:mmu \"Object/Screw/Hand\" ; + mosim:actionName \"HandScrew01\" ; + mosim:instructionID \"HandScrew01_ID\" ; + mosim:startCondition \"Place02_ID:cycleEnd\" ; mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Release ; - mosim:mmuProperty test:TargetConstraint ; - mosim:mmuProperty test:ReferenceConstraint ; - mosim:constraint ?constraint_1 ; - mosim:constraint ?constraint_2 . + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:PositionConstraint ; + mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; mosim:value \"Screw_bigAnnotated (1)\" . - test:Release mosim:key \"Release\" ; - mosim:value \"false\" . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"Smooth blind hole\" . - - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?bound_id . + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . + test:PositionConstraint mosim:key \"PositionConstraint\" ; + mosim:value \"Smooth blind hole\" . - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:object ?object_2 . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -3618,28 +3545,21 @@ WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - { SELECT ?constraint_1 + { SELECT ?constraint WHERE { ?subject rdf:type mosim:MSceneObject ; rdfs:label \"shelf-v1 (1)\" ; - mosim:constraint ?constraint_1 . + mosim:constraint ?constraint . - ?constraint_1 rdf:type mosim:MConstraint ; + ?constraint rdf:type mosim:MConstraint ; mosim:id \"Smooth blind hole\" . } LIMIT 1 } - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . - - ?bounderies rdf:type ; - mosim:constraint ?constraint_2 . - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object_2 . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . - { SELECT ?cosim + { SELECT ?cosim WHERE { ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -3652,71 +3572,56 @@ WHERE { mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b511 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b508 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . +PREFIX test: -_:genid-64f25be5d6034e66af719eba4856a993-b512 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value \"shelf-v1 (1)\" . -DELETE { - ?agent mosim:location ?target ; - mosim:nextLocation ?newTarget ; - mosim:carrying ?object . -} -INSERT { - ?agent mosim:location ?newTarget . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?newTarget; - mosim:carrying ?object . -}""" . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"ROOT\" . -_:genid-64f25be5d6034e66af719eba4856a993-b513 a ; - ; - """PREFIX mosim: + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -INSERT { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { - BIND(RAND() AS ?rand) - - BIND(CONCAT(\"Retrieve02_ID\", STR(?rand)) AS ?retrieveID) - BIND(CONCAT(\"Place02_ID\", STR(?rand)) AS ?placeID) - BIND(CONCAT(\"HandScrew01_ID\", STR(?rand)) AS ?handScrewID) -}""" . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . -_:genid-64f25be5d6034e66af719eba4856a993-b514 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: + ?subject rdf:type mosim:MSceneObject ; + rdfs:label \"shelf-v1 (1)\" ; + mosim:finalLocation ?target . + + ?target rdf:type mosim:FinalLocation ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b515 a , +_:genid-63f1d5c8b72c490392107b96d80fbd76-b509 a , ; ; """PREFIX ajan: @@ -3727,12 +3632,20 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Locomotion/Walk\" ; - mosim:actionName \"Walk01\" ; - mosim:mmuProperty test:TargetProperty . + mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . - test:TargetProperty mosim:key \"TargetID\" ; - mosim:value ?id . + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"ROOT\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -3742,51 +3655,91 @@ WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?agent mosim:nextLocation ?newTarget . + ?agent rdf:type ajan:This ; + mosim:placeing ?mSceneObject . - ?target rdf:type mosim:MSceneObject ; - rdfs:label ?newTarget ; - mosim:id ?id . + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObject ; + mosim:finalLocation ?target . + + ?target rdf:type mosim:FinalLocation ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"ROOT\" ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b516 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b510 a ; ; - """ASK WHERE {?s ?p ?o} + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +ASK +WHERE { + ?agent rdf:type ajan:This ; + mosim:location ?target ; + mosim:nextLocation ?target . +} + """ . -_:genid-64f25be5d6034e66af719eba4856a993-b517 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b511 a ; ; - """PREFIX rdf: + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 3) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b512 a ; + ; + """PREFIX ajan: +PREFIX rdf: +PREFIX test: PREFIX mosim: -PREFIX ajan: INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:walkFrom ?targetID ; - mosim:walkTo ?location ; - mosim:carried ?mSceneObject ; - mosim:executedTask ?task . + ?agent mosim:runningTask test:Task . + ?agent mosim:runningOperation test:Operation . + test:Task mosim:step -1 . + test:Task a mosim:Task . + test:Task mosim:operation test:Operation . + + test:Operation mosim:step -1 . + test:Operation a mosim:Operation . + + ?agent mosim:hand \"Right\" . + ?agent mosim:location \"material_station_target\" . } WHERE { - ?agent mosim:nextLocation ?targetID ; - mosim:location ?location ; - mosim:carrying ?mSceneObject . + ?agent rdf:type ajan:This . +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b513 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b518 a , +_:genid-63f1d5c8b72c490392107b96d80fbd76-b514 a , ; ; """PREFIX ajan: @@ -3797,20 +3750,13 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve03\" ; + mosim:instructionID ?retrieveID ; + mosim:mmuProperty test:Object . test:Object mosim:key \"Object\" ; - mosim:value \"shelf-v1 (1)\" . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"CarryConstraint\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + mosim:value ?screwdriverObject . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -3820,55 +3766,18 @@ WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?bounderies rdf:type ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - -_:genid-64f25be5d6034e66af719eba4856a993-b519 a ; - ""; - "5" . - - - a ; - ; - ; - true; - rdfs:label "Walk(Assembly)"; - rdfs:comment ""; - _:genid-64f25be5d6034e66af719eba4856a993-b536 . - - - a ; - rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b524 . - -_:genid-64f25be5d6034e66af719eba4856a993-b520 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: - -ASK -WHERE { ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?target . -} + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . -""" . + mosim:RandomIDs mosim:retrieveID ?retrieveID . -_:genid-64f25be5d6034e66af719eba4856a993-b521 a ; - "CONSTRUCT WHERE {?s ?p ?o}"; - . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . -_:genid-64f25be5d6034e66af719eba4856a993-b522 a , +_:genid-63f1d5c8b72c490392107b96d80fbd76-b515 a , ; ; """PREFIX ajan: @@ -3880,27 +3789,23 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; - mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place03\" ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; mosim:constraint ?constraint . - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . - - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + test:Object mosim:key \"Object\" ; mosim:value ?screwdriverObject . - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?bound_id . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . @@ -3912,36 +3817,24 @@ CONSTRUCT { WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - + ?agent rdf:type ajan:This ; mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; mosim:tighteningTool ?screwdriverObject . mosim:RandomIDs mosim:placeID ?placeID ; mosim:screwManualID ?screwManualID . - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . - } LIMIT 1 - } + ?bounderies rdf:type ; + mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + mosim:id ?bound_id ; + mosim:object ?object . - { SELECT ?cosim + { SELECT ?cosim WHERE { ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -3954,13 +3847,18 @@ WHERE { mosim:port ?port . }""" . - - a ; - rdfs:comment ""; - rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b527 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b516 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . -_:genid-64f25be5d6034e66af719eba4856a993-b523 a ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b517 a ; ; """PREFIX mosim: PREFIX rdf: @@ -3971,73 +3869,207 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-64f25be5d6034e66af719eba4856a993-b524 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b525 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b518 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b519 a ; + ; + """PREFIX mosim: + +DELETE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . +} +WHERE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b520 a ; + ; + """ASK WHERE {?s ?p ?o} +""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b521 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve02\" ; + mosim:instructionID \"Retrieve02_ID\" ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value \"Screw_bigAnnotated (1)\" . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b522 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 1) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b523 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . + + + a ; + ; + ; + true; + rdfs:label "Walk(Assembly)"; + rdfs:comment ""; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b536 . + + + a ; + rdfs:label "defaultSequence"; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b524 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b524 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b525 . -_:genid-64f25be5d6034e66af719eba4856a993-b525 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b526 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b525 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b526 . -_:genid-64f25be5d6034e66af719eba4856a993-b526 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b526 rdf:first ; rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b527 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b528 . + + a ; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b527; + rdfs:comment ""; + rdfs:label "defaultSequence" . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b527 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b528 . -_:genid-64f25be5d6034e66af719eba4856a993-b528 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b529 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b528 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b529 . -_:genid-64f25be5d6034e66af719eba4856a993-b529 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b530 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b529 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b530 . -_:genid-64f25be5d6034e66af719eba4856a993-b530 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b531 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b530 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b531 . -_:genid-64f25be5d6034e66af719eba4856a993-b531 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b531 rdf:first ; rdf:rest rdf:nil . - _:genid-64f25be5d6034e66af719eba4856a993-b532 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b532 . -_:genid-64f25be5d6034e66af719eba4856a993-b532 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b403; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b532 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b493; rdf:rest rdf:nil . - _:genid-64f25be5d6034e66af719eba4856a993-b533 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b533 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b533 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b509; + rdf:rest rdf:nil . + + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b534 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b534 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b391; + rdf:rest rdf:nil . + + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b535 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b535 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b486; + rdf:rest rdf:nil . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b536 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b496; + rdf:rest rdf:nil . + + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b537 . -_:genid-64f25be5d6034e66af719eba4856a993-b533 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b411; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b537 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b407; rdf:rest rdf:nil . a ; rdfs:comment ""; rdfs:label "CreateEndServer"; - _:genid-64f25be5d6034e66af719eba4856a993-b432, - _:genid-64f25be5d6034e66af719eba4856a993-b452 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b471, + _:genid-63f1d5c8b72c490392107b96d80fbd76-b404 . - - _:genid-64f25be5d6034e66af719eba4856a993-b534 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b538 . -_:genid-64f25be5d6034e66af719eba4856a993-b534 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b388; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b538 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b498; rdf:rest rdf:nil . - - _:genid-64f25be5d6034e66af719eba4856a993-b535 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b539 . -_:genid-64f25be5d6034e66af719eba4856a993-b535 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b400; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b539 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b455; rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b536 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b515; + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b540 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b540 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b499; rdf:rest rdf:nil . - - _:genid-64f25be5d6034e66af719eba4856a993-b537 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b541 . -_:genid-64f25be5d6034e66af719eba4856a993-b537 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b518; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b541 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b405; rdf:rest rdf:nil . rdfs:label "ScrewManual(Object)"; - _:genid-64f25be5d6034e66af719eba4856a993-b544 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b544 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b542 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b484; + rdf:rest rdf:nil . a ; @@ -4046,36 +4078,33 @@ _:genid-64f25be5d6034e66af719eba4856a993-b537 rdf:first _:genid-64f25be5d6034e66 ; rdfs:comment ""; rdfs:label "Retrieve(object)"; - _:genid-64f25be5d6034e66af719eba4856a993-b549 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b549 . - - _:genid-64f25be5d6034e66af719eba4856a993-b538 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b543 . -_:genid-64f25be5d6034e66af719eba4856a993-b538 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b406; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b543 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b469; rdf:rest rdf:nil . a ; rdfs:comment ""; rdfs:label "CreateInitErrorServer"; - _:genid-64f25be5d6034e66af719eba4856a993-b492, - _:genid-64f25be5d6034e66af719eba4856a993-b479 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b419, + _:genid-63f1d5c8b72c490392107b96d80fbd76-b522 . - - _:genid-64f25be5d6034e66af719eba4856a993-b539 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b544 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b483; + rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b539 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b386; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b545 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b515; rdf:rest rdf:nil . - - _:genid-64f25be5d6034e66af719eba4856a993-b540 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b546 . -_:genid-64f25be5d6034e66af719eba4856a993-b540 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b407; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b546 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b468; rdf:rest rdf:nil . - - _:genid-64f25be5d6034e66af719eba4856a993-b541 . - a ; ; @@ -4083,18 +4112,21 @@ _:genid-64f25be5d6034e66af719eba4856a993-b540 rdf:first _:genid-64f25be5d6034e66 ; rdfs:comment ""; rdfs:label "Place(Object)"; - _:genid-64f25be5d6034e66af719eba4856a993-b555 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b555 . -_:genid-64f25be5d6034e66af719eba4856a993-b541 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b381; - rdf:rest rdf:nil . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b547 . -_:genid-64f25be5d6034e66af719eba4856a993-b542 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b522; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b547 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b521; rdf:rest rdf:nil . - - _:genid-64f25be5d6034e66af719eba4856a993-b543 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b548 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b548 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b491; + rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b543 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b465; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b549 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b514; rdf:rest rdf:nil . @@ -4104,106 +4136,118 @@ _:genid-64f25be5d6034e66af719eba4856a993-b543 rdf:first _:genid-64f25be5d6034e66 ; rdfs:comment ""; rdfs:label "ScrewManual(Object)"; - _:genid-64f25be5d6034e66af719eba4856a993-b558 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b558 . -_:genid-64f25be5d6034e66af719eba4856a993-b544 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b399; + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b550 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b550 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b390; rdf:rest rdf:nil . a ; rdfs:comment ""; rdfs:label "CreateCycleEndServer"; - _:genid-64f25be5d6034e66af719eba4856a993-b393 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b420 . + + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b551 . -_:genid-64f25be5d6034e66af719eba4856a993-b545 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b414; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b551 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b508; rdf:rest rdf:nil . - - _:genid-64f25be5d6034e66af719eba4856a993-b546 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b552 . -_:genid-64f25be5d6034e66af719eba4856a993-b546 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b510; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b552 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b507; rdf:rest rdf:nil . - - _:genid-64f25be5d6034e66af719eba4856a993-b547 . - a ; rdfs:comment ""; rdfs:label "CreatePositionServer"; - _:genid-64f25be5d6034e66af719eba4856a993-b425, - _:genid-64f25be5d6034e66af719eba4856a993-b464 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b452, + _:genid-63f1d5c8b72c490392107b96d80fbd76-b447 . -_:genid-64f25be5d6034e66af719eba4856a993-b547 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b435; + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b553 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b553 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b374; rdf:rest rdf:nil . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b554; + . + a ; rdfs:comment ""; rdfs:label "DeleteCycleEndServer"; - _:genid-64f25be5d6034e66af719eba4856a993-b450 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b402 . - - _:genid-64f25be5d6034e66af719eba4856a993-b548 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b554 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b373; + rdf:rest rdf:nil . a ; rdfs:comment ""; rdfs:label "DeleteInitServer"; - _:genid-64f25be5d6034e66af719eba4856a993-b418 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b376 . -_:genid-64f25be5d6034e66af719eba4856a993-b548 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b383; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b555 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b506; rdf:rest rdf:nil . a ; rdfs:comment ""; rdfs:label "DeleteEndServer"; - _:genid-64f25be5d6034e66af719eba4856a993-b506 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b461 . a ; rdfs:comment ""; rdfs:label "DeletePositionServer"; - _:genid-64f25be5d6034e66af719eba4856a993-b463 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b431 . -_:genid-64f25be5d6034e66af719eba4856a993-b549 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b413; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b556 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b503; rdf:rest rdf:nil . - - _:genid-64f25be5d6034e66af719eba4856a993-b550 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b557 . -_:genid-64f25be5d6034e66af719eba4856a993-b550 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b444; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b557 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b477; rdf:rest rdf:nil . - - _:genid-64f25be5d6034e66af719eba4856a993-b551 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b558 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b497; + rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b551 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b475; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b559 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b495; rdf:rest rdf:nil . - - _:genid-64f25be5d6034e66af719eba4856a993-b552 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b510 . -_:genid-64f25be5d6034e66af719eba4856a993-b552 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b410; - rdf:rest rdf:nil . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b520 . - - _:genid-64f25be5d6034e66af719eba4856a993-b553 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b436 . -_:genid-64f25be5d6034e66af719eba4856a993-b553 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b374; - rdf:rest rdf:nil . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b418 . a ; ; rdfs:comment ""; rdfs:label "GetBoundary(ScrewManual(Object))"; - _:genid-64f25be5d6034e66af719eba4856a993-b390 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b409 . - - ; - _:genid-64f25be5d6034e66af719eba4856a993-b554 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b408 . + + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b434 . a ; @@ -4211,29 +4255,23 @@ _:genid-64f25be5d6034e66af719eba4856a993-b553 rdf:first _:genid-64f25be5d6034e66 "http://www.ajan.de/behavior/bt-ns#current"; rdfs:comment ""; rdfs:label "GetMMUs"; - _:genid-64f25be5d6034e66af719eba4856a993-b496, - _:genid-64f25be5d6034e66af719eba4856a993-b375 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b440, + _:genid-63f1d5c8b72c490392107b96d80fbd76-b395 . -_:genid-64f25be5d6034e66af719eba4856a993-b554 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b373; - rdf:rest rdf:nil . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b488 . a ; ; rdfs:comment ""; rdfs:label "HandleEvent"; - _:genid-64f25be5d6034e66af719eba4856a993-b387 . - -_:genid-64f25be5d6034e66af719eba4856a993-b555 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b409; - rdf:rest rdf:nil . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b475 . a ; true; - _:genid-64f25be5d6034e66af719eba4856a993-b571 . - -_:genid-64f25be5d6034e66af719eba4856a993-b556 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b486; - rdf:rest rdf:nil . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b571 . a ; @@ -4241,38 +4279,27 @@ _:genid-64f25be5d6034e66af719eba4856a993-b556 rdf:first _:genid-64f25be5d6034e66 rdfs:label "defaultPrioParallel"; rdfs:comment "" . - - _:genid-64f25be5d6034e66af719eba4856a993-b557 . - -_:genid-64f25be5d6034e66af719eba4856a993-b557 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b379; - rdf:rest rdf:nil . - -_:genid-64f25be5d6034e66af719eba4856a993-b558 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b405; - rdf:rest rdf:nil . - -_:genid-64f25be5d6034e66af719eba4856a993-b559 rdf:first _:genid-64f25be5d6034e66af719eba4856a993-b404; - rdf:rest rdf:nil . - - - _:genid-64f25be5d6034e66af719eba4856a993-b520 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b560; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b463 . - - _:genid-64f25be5d6034e66af719eba4856a993-b516 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b560 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b561 . - - _:genid-64f25be5d6034e66af719eba4856a993-b471 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b561 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b562 . - - _:genid-64f25be5d6034e66af719eba4856a993-b458 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b562 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b563 . - - _:genid-64f25be5d6034e66af719eba4856a993-b394 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b563 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b564 . - - _:genid-64f25be5d6034e66af719eba4856a993-b430 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b564 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b565 . - - _:genid-64f25be5d6034e66af719eba4856a993-b401 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b565 rdf:first ; + rdf:rest rdf:nil . a ; @@ -4284,27 +4311,11 @@ _:genid-64f25be5d6034e66af719eba4856a993-b559 rdf:first _:genid-64f25be5d6034e66 ; rdfs:label "defaultIsSucceeding" . - - _:genid-64f25be5d6034e66af719eba4856a993-b560; - _:genid-64f25be5d6034e66af719eba4856a993-b507 . - -_:genid-64f25be5d6034e66af719eba4856a993-b560 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b561 . - -_:genid-64f25be5d6034e66af719eba4856a993-b561 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b562 . - -_:genid-64f25be5d6034e66af719eba4856a993-b562 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b563 . - -_:genid-64f25be5d6034e66af719eba4856a993-b563 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b564 . - -_:genid-64f25be5d6034e66af719eba4856a993-b564 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b565 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b392 . -_:genid-64f25be5d6034e66af719eba4856a993-b565 rdf:first ; - rdf:rest rdf:nil . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b377 . a ; @@ -4312,125 +4323,121 @@ _:genid-64f25be5d6034e66af719eba4856a993-b565 rdf:first - _:genid-64f25be5d6034e66af719eba4856a993-b445 . - - - _:genid-64f25be5d6034e66af719eba4856a993-b521 . - - _:genid-64f25be5d6034e66af719eba4856a993-b566 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b566 . -_:genid-64f25be5d6034e66af719eba4856a993-b566 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b567 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b566 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b567 . -_:genid-64f25be5d6034e66af719eba4856a993-b567 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b567 rdf:first ; rdf:rest rdf:nil . - _:genid-64f25be5d6034e66af719eba4856a993-b568 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b568 . -_:genid-64f25be5d6034e66af719eba4856a993-b568 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b569 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b568 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b569 . -_:genid-64f25be5d6034e66af719eba4856a993-b569 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b570 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b569 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b570 . a , ; ; rdfs:label "Tighten_BT" . -_:genid-64f25be5d6034e66af719eba4856a993-b570 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b570 rdf:first ; rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b571 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b572 . - -_:genid-64f25be5d6034e66af719eba4856a993-b572 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b573 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b571 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b572 . a ; ; rdfs:label "defaultIsSucceeding" . -_:genid-64f25be5d6034e66af719eba4856a993-b573 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b574 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b572 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b573 . -_:genid-64f25be5d6034e66af719eba4856a993-b574 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b573 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b574 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b574 rdf:first ; rdf:rest rdf:nil . - _:genid-64f25be5d6034e66af719eba4856a993-b575 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b575 . -_:genid-64f25be5d6034e66af719eba4856a993-b575 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b576 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b575 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b576 . -_:genid-64f25be5d6034e66af719eba4856a993-b576 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b577 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b576 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b577 . -_:genid-64f25be5d6034e66af719eba4856a993-b577 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b577 rdf:first ; rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b578 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b579 . - -_:genid-64f25be5d6034e66af719eba4856a993-b579 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b580 . - -_:genid-64f25be5d6034e66af719eba4856a993-b580 rdf:first ; - rdf:rest rdf:nil . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b578 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b579 . -_:genid-64f25be5d6034e66af719eba4856a993-b581 rdf:first . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b579 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b580 . rdfs:comment ""; rdfs:label "Parallel" . -_:genid-64f25be5d6034e66af719eba4856a993-b581 rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b582 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b580 rdf:first ; + rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b582 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b583 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b581 . -_:genid-64f25be5d6034e66af719eba4856a993-b583 rdf:first ; - rdf:rest rdf:nil . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b581 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b582 . a ; rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b601 . - - - _:genid-64f25be5d6034e66af719eba4856a993-b584 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b601 . -_:genid-64f25be5d6034e66af719eba4856a993-b584 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b585 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b582 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b583 . -_:genid-64f25be5d6034e66af719eba4856a993-b585 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b583 rdf:first ; rdf:rest rdf:nil . - - _:genid-64f25be5d6034e66af719eba4856a993-b586 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b584 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b584 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b585 . a ; false; rdfs:label "Positioned(Object)"; rdfs:comment ""; - _:genid-64f25be5d6034e66af719eba4856a993-b500 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b448 . -_:genid-64f25be5d6034e66af719eba4856a993-b586 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b587 . - -_:genid-64f25be5d6034e66af719eba4856a993-b587 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b585 rdf:first ; rdf:rest rdf:nil . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b586 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b586 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b587 . + a ; - _:genid-64f25be5d6034e66af719eba4856a993-b588; rdfs:label "defaultPriority"; - rdfs:comment "" . + rdfs:comment ""; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b588 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b587 rdf:first ; + rdf:rest rdf:nil . a ; @@ -4445,9 +4452,6 @@ _:genid-64f25be5d6034e66af719eba4856a993-b587 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b589 . - a ; ; @@ -4459,9 +4463,12 @@ _:genid-64f25be5d6034e66af719eba4856a993-b588 rdf:first a ; rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b605 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b605 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b588 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b589 . -_:genid-64f25be5d6034e66af719eba4856a993-b589 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b589 rdf:first ; rdf:rest rdf:nil . @@ -4474,26 +4481,29 @@ _:genid-64f25be5d6034e66af719eba4856a993-b589 rdf:first a ; - _:genid-64f25be5d6034e66af719eba4856a993-b590; rdfs:comment ""; - rdfs:label "defaultPriority" . + rdfs:label "defaultPriority"; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b590 . -_:genid-64f25be5d6034e66af719eba4856a993-b590 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b591 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b590 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b591 . a ; rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b652 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b653 . a ; rdfs:comment ""; rdfs:label "Sequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b632 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b633 . -_:genid-64f25be5d6034e66af719eba4856a993-b591 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b592 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b591 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b592 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b592 rdf:first ; + rdf:rest rdf:nil . a ; @@ -4507,10 +4517,13 @@ _:genid-64f25be5d6034e66af719eba4856a993-b591 rdf:first ; rdfs:comment ""; rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b620 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b621 . -_:genid-64f25be5d6034e66af719eba4856a993-b592 rdf:first ; - rdf:rest rdf:nil . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b593 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b593 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b594 . a ; @@ -4523,10 +4536,10 @@ _:genid-64f25be5d6034e66af719eba4856a993-b592 rdf:first a ; rdfs:comment ""; - _:genid-64f25be5d6034e66af719eba4856a993-b612 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b612 . - - _:genid-64f25be5d6034e66af719eba4856a993-b593 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b594 rdf:first ; + rdf:rest rdf:nil . a ; @@ -4539,28 +4552,37 @@ _:genid-64f25be5d6034e66af719eba4856a993-b592 rdf:first a ; rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b636 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b637 . a ; rdfs:comment ""; rdfs:label "NextOperation_Tightening?" . -_:genid-64f25be5d6034e66af719eba4856a993-b593 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b594 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b595 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b595 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b596 . a ; ; rdfs:comment ""; rdfs:label "RegisterListener_CycleEnd"; - _:genid-64f25be5d6034e66af719eba4856a993-b392; - _:genid-64f25be5d6034e66af719eba4856a993-b462; - _:genid-64f25be5d6034e66af719eba4856a993-b478 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b470; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b426; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b500 . -_:genid-64f25be5d6034e66af719eba4856a993-b594 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b596 rdf:first ; rdf:rest rdf:nil . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b487 . + + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b442 . + a ; ; @@ -4569,17 +4591,31 @@ _:genid-64f25be5d6034e66af719eba4856a993-b594 rdf:first - _:genid-64f25be5d6034e66af719eba4856a993-b595 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b393 . + + + a ; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b422; + ; + rdfs:comment ""; + rdfs:label "Tighten_Goal" . -_:genid-64f25be5d6034e66af719eba4856a993-b595 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b596 . + + a ; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b462; + ; + rdfs:comment ""; + rdfs:label "Position_Goal" . a ; rdfs:comment ""; rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b615 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b615 . + + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b443 . a ; @@ -4592,7 +4628,10 @@ _:genid-64f25be5d6034e66af719eba4856a993-b595 rdf:first a ; rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b642 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b643 . + + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b501 . a ; @@ -4604,10 +4643,20 @@ _:genid-64f25be5d6034e66af719eba4856a993-b595 rdf:first ; rdfs:comment ""; rdfs:label "Sequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b665 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b666 . -_:genid-64f25be5d6034e66af719eba4856a993-b596 rdf:first ; - rdf:rest rdf:nil . + + a ; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b460; + ; + ; + rdfs:comment ""; + rdfs:label "GET_TaskList" . + + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b456; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b432; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b416 . a ; @@ -4627,10 +4676,7 @@ _:genid-64f25be5d6034e66af719eba4856a993-b596 rdf:first a ; rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b646 . - - - _:genid-64f25be5d6034e66af719eba4856a993-b484 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b647 . a ; @@ -4640,12 +4686,6 @@ _:genid-64f25be5d6034e66af719eba4856a993-b596 rdf:first true; rdfs:comment "" . - - _:genid-64f25be5d6034e66af719eba4856a993-b497 . - - - _:genid-64f25be5d6034e66af719eba4856a993-b487 . - a ; ; @@ -4659,24 +4699,21 @@ _:genid-64f25be5d6034e66af719eba4856a993-b596 rdf:first false; rdfs:comment ""; rdfs:label "SetTask?!"; - _:genid-64f25be5d6034e66af719eba4856a993-b495 . - - - a ; - _:genid-64f25be5d6034e66af719eba4856a993-b460; - ; - rdfs:comment ""; - rdfs:label "Tighten_Goal" . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b438 . - - a ; - _:genid-64f25be5d6034e66af719eba4856a993-b474; - ; + + a ; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b382; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b378; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b415; + ; rdfs:comment ""; - rdfs:label "Position_Goal" . + rdfs:label "RegisterListener_End" . - - _:genid-64f25be5d6034e66af719eba4856a993-b473 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b379; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b513; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b489 . a ; @@ -4686,17 +4723,6 @@ _:genid-64f25be5d6034e66af719eba4856a993-b596 rdf:first - _:genid-64f25be5d6034e66af719eba4856a993-b472 . - - - a ; - _:genid-64f25be5d6034e66af719eba4856a993-b469; - ; - ; - rdfs:comment ""; - rdfs:label "GET_TaskList" . - a ; ; @@ -4705,17 +4731,25 @@ _:genid-64f25be5d6034e66af719eba4856a993-b596 rdf:first - _:genid-64f25be5d6034e66af719eba4856a993-b503; - _:genid-64f25be5d6034e66af719eba4856a993-b385; - _:genid-64f25be5d6034e66af719eba4856a993-b427 . + + a ; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b398; + ; + rdfs:comment ""; + rdfs:label "Repeater" . + + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b597 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b597 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b598 . a ; false; rdfs:comment ""; rdfs:label "SetOperation?!"; - _:genid-64f25be5d6034e66af719eba4856a993-b504 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b457 . a ; @@ -4735,14 +4769,11 @@ _:genid-64f25be5d6034e66af719eba4856a993-b596 rdf:first - a ; - _:genid-64f25be5d6034e66af719eba4856a993-b441; - ; - rdfs:comment ""; - rdfs:label "RegisterListener_End"; - _:genid-64f25be5d6034e66af719eba4856a993-b419; - _:genid-64f25be5d6034e66af719eba4856a993-b456 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b598 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b599 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b599 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b600 . a ; @@ -4750,10 +4781,8 @@ _:genid-64f25be5d6034e66af719eba4856a993-b596 rdf:first - _:genid-64f25be5d6034e66af719eba4856a993-b420; - _:genid-64f25be5d6034e66af719eba4856a993-b489; - _:genid-64f25be5d6034e66af719eba4856a993-b439 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b600 rdf:first ; + rdf:rest rdf:nil . a ; @@ -4763,21 +4792,14 @@ _:genid-64f25be5d6034e66af719eba4856a993-b596 rdf:first - a ; - _:genid-64f25be5d6034e66af719eba4856a993-b448; - ; - rdfs:comment ""; - rdfs:label "Repeater" . - - - _:genid-64f25be5d6034e66af719eba4856a993-b597 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b601 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b602 . -_:genid-64f25be5d6034e66af719eba4856a993-b597 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b598 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b602 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b603 . -_:genid-64f25be5d6034e66af719eba4856a993-b598 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b599 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b603 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b604 . . @@ -4788,8 +4810,8 @@ _:genid-64f25be5d6034e66af719eba4856a993-b598 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b600 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b604 rdf:first ; + rdf:rest rdf:nil . a ; @@ -4797,9 +4819,6 @@ _:genid-64f25be5d6034e66af719eba4856a993-b599 rdf:first ; - rdf:rest rdf:nil . - a ; ; @@ -4812,24 +4831,27 @@ _:genid-64f25be5d6034e66af719eba4856a993-b600 rdf:first ; rdfs:comment ""; rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b668 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b669 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b605 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b606 . -_:genid-64f25be5d6034e66af719eba4856a993-b601 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b602 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b606 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b607 . -_:genid-64f25be5d6034e66af719eba4856a993-b602 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b603 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b607 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b608 . -_:genid-64f25be5d6034e66af719eba4856a993-b603 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b604 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b608 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b609 . a ; rdfs:label "At(Target)"; rdfs:comment "" . -_:genid-64f25be5d6034e66af719eba4856a993-b604 rdf:first ; - rdf:rest rdf:nil . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b609 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b610 . a ; @@ -4853,8 +4875,8 @@ _:genid-64f25be5d6034e66af719eba4856a993-b604 rdf:first . -_:genid-64f25be5d6034e66af719eba4856a993-b605 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b606 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b610 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b611 . a , ; @@ -4866,22 +4888,19 @@ _:genid-64f25be5d6034e66af719eba4856a993-b605 rdf:first ; rdfs:label "Process_Tasklist_BT" . -_:genid-64f25be5d6034e66af719eba4856a993-b606 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b607 . - -_:genid-64f25be5d6034e66af719eba4856a993-b607 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b608 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b611 rdf:first ; + rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b608 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b609 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b612 rdf:first ; + rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b609 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b610 . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b613 . -_:genid-64f25be5d6034e66af719eba4856a993-b610 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b611 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b613 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b614 . -_:genid-64f25be5d6034e66af719eba4856a993-b611 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b614 rdf:first ; rdf:rest rdf:nil . @@ -4895,23 +4914,20 @@ _:genid-64f25be5d6034e66af719eba4856a993-b611 rdf:first ; rdfs:label "GetScene" . -_:genid-64f25be5d6034e66af719eba4856a993-b612 rdf:first ; - rdf:rest rdf:nil . - - - _:genid-64f25be5d6034e66af719eba4856a993-b613 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b615 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b616 . -_:genid-64f25be5d6034e66af719eba4856a993-b613 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b614 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b616 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b617 . -_:genid-64f25be5d6034e66af719eba4856a993-b614 rdf:first ; - rdf:rest rdf:nil . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b617 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b618 . -_:genid-64f25be5d6034e66af719eba4856a993-b615 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b616 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b618 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b619 . -_:genid-64f25be5d6034e66af719eba4856a993-b616 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b617 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b619 rdf:first ; + rdf:rest rdf:nil . a , ; @@ -4929,140 +4945,134 @@ _:genid-64f25be5d6034e66af719eba4856a993-b616 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b618 . - -_:genid-64f25be5d6034e66af719eba4856a993-b618 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b619 . - -_:genid-64f25be5d6034e66af719eba4856a993-b619 rdf:first ; - rdf:rest rdf:nil . - -_:genid-64f25be5d6034e66af719eba4856a993-b620 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b621 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b621 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b622 . -_:genid-64f25be5d6034e66af719eba4856a993-b621 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b622 rdf:first ; rdf:rest rdf:nil . - _:genid-64f25be5d6034e66af719eba4856a993-b622 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b623 . -_:genid-64f25be5d6034e66af719eba4856a993-b622 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b623 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b623 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b624 . -_:genid-64f25be5d6034e66af719eba4856a993-b623 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b624 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b624 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b625 . -_:genid-64f25be5d6034e66af719eba4856a993-b624 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b625 rdf:first ; rdf:rest rdf:nil . - _:genid-64f25be5d6034e66af719eba4856a993-b625 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b626 . -_:genid-64f25be5d6034e66af719eba4856a993-b625 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b626 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b626 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b627 . -_:genid-64f25be5d6034e66af719eba4856a993-b626 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b627 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b627 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b628 . -_:genid-64f25be5d6034e66af719eba4856a993-b627 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b628 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b628 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b629 . -_:genid-64f25be5d6034e66af719eba4856a993-b628 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b629 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b629 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b630 . -_:genid-64f25be5d6034e66af719eba4856a993-b629 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b630 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b630 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b631 . -_:genid-64f25be5d6034e66af719eba4856a993-b630 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b631 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b631 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b632 . -_:genid-64f25be5d6034e66af719eba4856a993-b631 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b632 rdf:first ; rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b632 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b633 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b633 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b634 . -_:genid-64f25be5d6034e66af719eba4856a993-b633 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b634 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b634 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b635 . -_:genid-64f25be5d6034e66af719eba4856a993-b634 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b635 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b635 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b636 . -_:genid-64f25be5d6034e66af719eba4856a993-b635 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b636 rdf:first ; rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b636 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b637 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b637 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b638 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b638 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b639 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b639 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b640 . -_:genid-64f25be5d6034e66af719eba4856a993-b637 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b638 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b640 rdf:first ; + rdf:rest rdf:nil . a ; rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b640 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b641 . -_:genid-64f25be5d6034e66af719eba4856a993-b638 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b639 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b641 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b642 . a ; true; rdfs:label "defaultParallel" . -_:genid-64f25be5d6034e66af719eba4856a993-b639 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b642 rdf:first ; rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b640 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b641 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b643 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b644 . a ; true . -_:genid-64f25be5d6034e66af719eba4856a993-b641 rdf:first ; - rdf:rest rdf:nil . - -_:genid-64f25be5d6034e66af719eba4856a993-b642 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b643 . - -_:genid-64f25be5d6034e66af719eba4856a993-b643 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b644 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b644 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b645 . -_:genid-64f25be5d6034e66af719eba4856a993-b644 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b645 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b645 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b646 . -_:genid-64f25be5d6034e66af719eba4856a993-b645 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b646 rdf:first ; rdf:rest rdf:nil . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b647 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b648 . + a ; true . -_:genid-64f25be5d6034e66af719eba4856a993-b646 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b647 . - -_:genid-64f25be5d6034e66af719eba4856a993-b647 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b648 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b648 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b649 . -_:genid-64f25be5d6034e66af719eba4856a993-b648 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b649 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b649 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b650 . -_:genid-64f25be5d6034e66af719eba4856a993-b649 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b650 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b650 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b651 . -_:genid-64f25be5d6034e66af719eba4856a993-b650 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b651 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b651 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b652 . -_:genid-64f25be5d6034e66af719eba4856a993-b651 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b652 rdf:first ; rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b652 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b653 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b653 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b654 . -_:genid-64f25be5d6034e66af719eba4856a993-b653 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b654 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b654 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b655 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b655 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b656 . a ; @@ -5075,22 +5085,22 @@ _:genid-64f25be5d6034e66af719eba4856a993-b653 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b655 . - -_:genid-64f25be5d6034e66af719eba4856a993-b655 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b656 rdf:first ; rdf:rest rdf:nil . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b657 . + a ; true; rdfs:label "defaultParallel" . - - _:genid-64f25be5d6034e66af719eba4856a993-b656 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b657 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b658 . -_:genid-64f25be5d6034e66af719eba4856a993-b656 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b657 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b658 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b659 . a ; @@ -5100,19 +5110,19 @@ _:genid-64f25be5d6034e66af719eba4856a993-b656 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b658 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b659 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b660 . -_:genid-64f25be5d6034e66af719eba4856a993-b658 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b659 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b660 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b661 . -_:genid-64f25be5d6034e66af719eba4856a993-b659 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b660 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b661 rdf:first ; + rdf:rest rdf:nil . a ; rdfs:label "defaultSequence"; - _:genid-64f25be5d6034e66af719eba4856a993-b663 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b664 . a ; @@ -5122,23 +5132,23 @@ _:genid-64f25be5d6034e66af719eba4856a993-b659 rdf:first ; - rdf:rest rdf:nil . + + _:genid-63f1d5c8b72c490392107b96d80fbd76-b662 . + +_:genid-63f1d5c8b72c490392107b96d80fbd76-b662 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b663 . a ; rdfs:label "NextOperation_Tightening?"; rdfs:comment "" . - - _:genid-64f25be5d6034e66af719eba4856a993-b661 . - -_:genid-64f25be5d6034e66af719eba4856a993-b661 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b662 . - -_:genid-64f25be5d6034e66af719eba4856a993-b662 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b663 rdf:first ; rdf:rest rdf:nil . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b664 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b665 . + a ; ; @@ -5146,136 +5156,121 @@ _:genid-64f25be5d6034e66af719eba4856a993-b662 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b664 . - -_:genid-64f25be5d6034e66af719eba4856a993-b664 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b665 rdf:first ; rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b665 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b666 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b666 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b667 . -_:genid-64f25be5d6034e66af719eba4856a993-b666 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b667 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b667 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b668 . -_:genid-64f25be5d6034e66af719eba4856a993-b667 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b668 rdf:first ; rdf:rest rdf:nil . -_:genid-64f25be5d6034e66af719eba4856a993-b668 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b669 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b669 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b670 . -_:genid-64f25be5d6034e66af719eba4856a993-b669 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b670 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b670 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b671 . -_:genid-64f25be5d6034e66af719eba4856a993-b670 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b671 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b671 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b672 . -_:genid-64f25be5d6034e66af719eba4856a993-b671 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b672 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b672 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b673 . -_:genid-64f25be5d6034e66af719eba4856a993-b672 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b673 rdf:first ; rdf:rest rdf:nil . - _:genid-64f25be5d6034e66af719eba4856a993-b673 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b674 . -_:genid-64f25be5d6034e66af719eba4856a993-b673 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b674 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b674 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b675 . -_:genid-64f25be5d6034e66af719eba4856a993-b674 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b675 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b675 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b676 . -_:genid-64f25be5d6034e66af719eba4856a993-b675 rdf:first ; - rdf:rest _:genid-64f25be5d6034e66af719eba4856a993-b676 . +_:genid-63f1d5c8b72c490392107b96d80fbd76-b676 rdf:first ; + rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b677 . -_:genid-64f25be5d6034e66af719eba4856a993-b676 rdf:first ; +_:genid-63f1d5c8b72c490392107b96d80fbd76-b677 rdf:first ; rdf:rest rdf:nil . - _:genid-64f25be5d6034e66af719eba4856a993-b437; - _:genid-64f25be5d6034e66af719eba4856a993-b499; - _:genid-64f25be5d6034e66af719eba4856a993-b438 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b466; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b446; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b453 . - _:genid-64f25be5d6034e66af719eba4856a993-b421; - _:genid-64f25be5d6034e66af719eba4856a993-b509; - _:genid-64f25be5d6034e66af719eba4856a993-b446 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b381; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b467; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b394 . - _:genid-64f25be5d6034e66af719eba4856a993-b443; - _:genid-64f25be5d6034e66af719eba4856a993-b511; - _:genid-64f25be5d6034e66af719eba4856a993-b395 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b387; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b472; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b441 . - _:genid-64f25be5d6034e66af719eba4856a993-b412; - _:genid-64f25be5d6034e66af719eba4856a993-b424; - _:genid-64f25be5d6034e66af719eba4856a993-b459 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b511; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b375; + _:genid-63f1d5c8b72c490392107b96d80fbd76-b421 . - _:genid-64f25be5d6034e66af719eba4856a993-b468 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b445 . - _:genid-64f25be5d6034e66af719eba4856a993-b384 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b410 . - _:genid-64f25be5d6034e66af719eba4856a993-b466 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b480 . - _:genid-64f25be5d6034e66af719eba4856a993-b416 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b519 . - _:genid-64f25be5d6034e66af719eba4856a993-b380 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b385 . - _:genid-64f25be5d6034e66af719eba4856a993-b480 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b380 . - _:genid-64f25be5d6034e66af719eba4856a993-b377 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b512 . - _:genid-64f25be5d6034e66af719eba4856a993-b422 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b401 . - _:genid-64f25be5d6034e66af719eba4856a993-b477 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b482 . - _:genid-64f25be5d6034e66af719eba4856a993-b513 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b476 . - _:genid-64f25be5d6034e66af719eba4856a993-b512 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b473 . - _:genid-64f25be5d6034e66af719eba4856a993-b389 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b424 . - _:genid-64f25be5d6034e66af719eba4856a993-b376 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b492 . - _:genid-64f25be5d6034e66af719eba4856a993-b429 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b388 . - _:genid-64f25be5d6034e66af719eba4856a993-b391 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b437 . - _:genid-64f25be5d6034e66af719eba4856a993-b451 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b403 . - _:genid-64f25be5d6034e66af719eba4856a993-b483 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b428 . - _:genid-64f25be5d6034e66af719eba4856a993-b455 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b413 . - _:genid-64f25be5d6034e66af719eba4856a993-b457 . - - - _:genid-64f25be5d6034e66af719eba4856a993-b417 . - - - _:genid-64f25be5d6034e66af719eba4856a993-b505 . - - - _:genid-64f25be5d6034e66af719eba4856a993-b501 . - - - _:genid-64f25be5d6034e66af719eba4856a993-b517 . + _:genid-63f1d5c8b72c490392107b96d80fbd76-b417 . diff --git a/executionservice/use-case/domains/domain.trig b/executionservice/use-case/domains/domain.trig index a8613ff6..a056859b 100644 --- a/executionservice/use-case/domains/domain.trig +++ b/executionservice/use-case/domains/domain.trig @@ -673,7 +673,7 @@ mosim:Mapping { ] ; rr:subjectMap [ - rr:template "http://www.ajan.de/ajan-mapping-ns#Task/{Id}" ; + rr:template "http://www.ajan.de/ajan-mapping-ns#Task/{Id}_{No}" ; rr:class mosim:Task ; ] ; From e97a50cc6ee47daf49cda190af8d1d27e7575fb7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9=20Antakli?= Date: Tue, 23 Jan 2024 12:24:01 +0100 Subject: [PATCH 4/5] updated BTs to work with new MMUs --- .../use-case/behaviors/behaviors.ttl | 8679 ++++++++++------- 1 file changed, 5141 insertions(+), 3538 deletions(-) diff --git a/executionservice/use-case/behaviors/behaviors.ttl b/executionservice/use-case/behaviors/behaviors.ttl index 7db347a3..5aa5f34f 100644 --- a/executionservice/use-case/behaviors/behaviors.ttl +++ b/executionservice/use-case/behaviors/behaviors.ttl @@ -7,596 +7,302 @@ @prefix fn: . - rdfs:comment ""; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b444 . + rdfs:comment "" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b715 rdf:first ; + rdf:rest rdf:nil . a ; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b523; false; rdfs:comment ""; - rdfs:label "DeleteBoundaries" . + rdfs:label "DeleteBoundaries"; + _:genid-b2c68679b5d6482884489a74810ff72b-b574 . a ; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b459; false; rdfs:label "Inserted(Object)"; + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b521 . + + + a ; + _:genid-b2c68679b5d6482884489a74810ff72b-b716; + true; + rdfs:label "defaultPrioParallel"; rdfs:comment "" . a ; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b449; false; rdfs:label "Save History"; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b448 . + +_:genid-b2c68679b5d6482884489a74810ff72b-b716 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b717 . a ; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b383; false; rdfs:label "Save History"; - rdfs:comment "" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b373 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Return01\" ; - mosim:startCondition ?startCondition ; - mosim:instructionID ?returnID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?screwManualID, \":end+ 0.05\") AS ?startCondition) - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwdriverObject ; - mosim:finalLocation ?target . - - ?target rdf:type mosim:FinalLocation ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"ROOT\" ; - mosim:object ?object . - - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . - - - rdfs:comment ""; - ; - ; - rdfs:label "ScrewManual(Object)"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b542 . - - rdfs:comment ""; - ; - ; - rdfs:label "Place(Object)"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b545 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b374 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: + _:genid-b2c68679b5d6482884489a74810ff72b-b419 . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . +_:genid-b2c68679b5d6482884489a74810ff72b-b717 rdf:first ; + rdf:rest rdf:nil . - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; - mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; - mosim:constraint ?constraint . - - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . + + a ; + _:genid-b2c68679b5d6482884489a74810ff72b-b718; + true; + rdfs:comment ""; + rdfs:label "PrioParallel" . - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; - mosim:value ?screwdriverObject . +_:genid-b2c68679b5d6482884489a74810ff72b-b718 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b719 . - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . +_:genid-b2c68679b5d6482884489a74810ff72b-b719 rdf:first ; + rdf:rest rdf:nil . - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . + + _:genid-b2c68679b5d6482884489a74810ff72b-b720 . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-b2c68679b5d6482884489a74810ff72b-b720 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b721 . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; - mosim:tighteningTool ?screwdriverObject . +_:genid-b2c68679b5d6482884489a74810ff72b-b721 rdf:first ; + rdf:rest rdf:nil . - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + + a ; + _:genid-b2c68679b5d6482884489a74810ff72b-b722; + rdfs:label "defaultPriority"; + rdfs:comment "" . - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . - } LIMIT 1 - } +_:genid-b2c68679b5d6482884489a74810ff72b-b722 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b723 . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-b2c68679b5d6482884489a74810ff72b-b723 rdf:first ; + rdf:rest rdf:nil . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . + + a ; + _:genid-b2c68679b5d6482884489a74810ff72b-b724; + rdfs:label "defaultPriority" . a ; rdfs:comment ""; - rdfs:label "defaultSequence" . + rdfs:label "defaultSequence"; + _:genid-b2c68679b5d6482884489a74810ff72b-b813 . a ; ; rdfs:label "Place Goal"; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b491 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b375 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . +_:genid-b2c68679b5d6482884489a74810ff72b-b724 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b725 . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b725 rdf:first ; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b376 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: + + a ; + _:genid-b2c68679b5d6482884489a74810ff72b-b726; + rdfs:label "defaultPriority" . -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b726 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b727 . a ; ; rdfs:label "Carry Goal"; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b416 . a ; rdfs:label "Insert_Goal"; ; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b586 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b377 a ; - "CONSTRUCT WHERE {?s ?p ?o}"; - . +_:genid-b2c68679b5d6482884489a74810ff72b-b727 rdf:first ; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b378 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + + a ; + _:genid-b2c68679b5d6482884489a74810ff72b-b728; + rdfs:label "defaultPriority"; + rdfs:comment "" . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b728 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b729 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b379 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: +_:genid-b2c68679b5d6482884489a74810ff72b-b729 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b730 . -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b730 rdf:first ; + rdf:rest rdf:nil . a ; ; rdfs:label "Retrieve Goal"; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b509 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b380 a ; - ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: + + a ; + ; + rdfs:label "Walk Goal"; + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b593 . -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:inserted ?mSceneObject ; - mosim:insertedLocation ?insertLocation ; - mosim:insertedConnection ?insertConnection ; - mosim:executedTask ?task . -} -WHERE { - ?agent mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . - - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) -}""" . - - - a ; - ; - rdfs:label "Walk Goal"; - rdfs:comment "" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b381 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b382 a ; - ; - """PREFIX mosim: -PREFIX rdf: + + _:genid-b2c68679b5d6482884489a74810ff72b-b433 . -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b592 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b383 a ; - ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: + + a ; + rdfs:label "defaultSequence"; + _:genid-b2c68679b5d6482884489a74810ff72b-b775 . -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:walkFrom ?targetID ; - mosim:walkTo ?location ; - mosim:carried ?mSceneObject ; - mosim:executedTask ?task . -} -WHERE { - ?agent mosim:nextLocation ?targetID ; - mosim:location ?location ; - mosim:carrying ?mSceneObject . + + _:genid-b2c68679b5d6482884489a74810ff72b-b534 . - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) -}""" . + + a ; + _:genid-b2c68679b5d6482884489a74810ff72b-b520; + _:genid-b2c68679b5d6482884489a74810ff72b-b495; + _:genid-b2c68679b5d6482884489a74810ff72b-b489; + ; + rdfs:comment ""; + rdfs:label "RegisterListener_InitError" . a ; ; rdfs:comment ""; - rdfs:label "UnregisterListener_InitError" . + rdfs:label "UnregisterListener_InitError"; + _:genid-b2c68679b5d6482884489a74810ff72b-b482; + _:genid-b2c68679b5d6482884489a74810ff72b-b466; + _:genid-b2c68679b5d6482884489a74810ff72b-b539 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b384 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b538; + _:genid-b2c68679b5d6482884489a74810ff72b-b498; + _:genid-b2c68679b5d6482884489a74810ff72b-b570 . a ; - rdfs:label "GetBoundary(HandScrew)"; ; rdfs:comment ""; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b411 . + rdfs:label "GetBoundary(HandScrew(Object))" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b385 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . -}""" . + + a ; + rdfs:label "defaultSequence"; + _:genid-b2c68679b5d6482884489a74810ff72b-b815 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b386 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . + + _:genid-b2c68679b5d6482884489a74810ff72b-b458; + _:genid-b2c68679b5d6482884489a74810ff72b-b569; + _:genid-b2c68679b5d6482884489a74810ff72b-b606 . a ; - rdfs:label "defaultSequence" . - - - a ; - ; - rdfs:comment ""; - rdfs:label "RegisterListener_InitError" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b387 a ; - ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b388 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . -}""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b389 a ; - ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b390 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: + rdfs:label "defaultSequence"; + _:genid-b2c68679b5d6482884489a74810ff72b-b808 . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Locomotion/Walk\" ; - mosim:actionName \"Walk00\" ; - mosim:mmuProperty test:TargetProperty . - - test:TargetProperty mosim:key \"TargetID\" ; - mosim:value ?id . + + _:genid-b2c68679b5d6482884489a74810ff72b-b577; + _:genid-b2c68679b5d6482884489a74810ff72b-b597; + _:genid-b2c68679b5d6482884489a74810ff72b-b589 . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?agent mosim:nextLocation ?targetID . + + _:genid-b2c68679b5d6482884489a74810ff72b-b467; + _:genid-b2c68679b5d6482884489a74810ff72b-b420; + _:genid-b2c68679b5d6482884489a74810ff72b-b528 . - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . + + a ; + rdfs:label "NextOperation_Tightening?"; + rdfs:comment "" . - ?target rdf:type mosim:MSceneObject ; - rdfs:label ?targetID ; - mosim:id ?id . + + a ; + _:genid-b2c68679b5d6482884489a74810ff72b-b468; + _:genid-b2c68679b5d6482884489a74810ff72b-b426; + _:genid-b2c68679b5d6482884489a74810ff72b-b529; + ; + rdfs:comment ""; + rdfs:label "RegisterListener_PositionFinished" . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . + + a ; + true; + rdfs:label "defaultParallel" . a ; ; rdfs:comment ""; - rdfs:label "UnregisterListener_PositionFinished" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b391 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place03\" ; - mosim:endCondition ?endCondition ; - mosim:instructionID ?placeID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Release ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - test:Release mosim:key \"Release\" ; - mosim:value \"false\" . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?bound_id . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) - - ?bounderies rdf:type ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object . + rdfs:label "UnregisterListener_PositionFinished"; + _:genid-b2c68679b5d6482884489a74810ff72b-b444; + _:genid-b2c68679b5d6482884489a74810ff72b-b493; + _:genid-b2c68679b5d6482884489a74810ff72b-b492 . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . + + a ; + ; + ; + true; + rdfs:label "ScrewManual(Object)"; + rdfs:comment "" . a ; ; rdfs:comment ""; - rdfs:label "UnregisterListener_End" . + rdfs:label "UnregisterListener_End"; + _:genid-b2c68679b5d6482884489a74810ff72b-b502; + _:genid-b2c68679b5d6482884489a74810ff72b-b604; + _:genid-b2c68679b5d6482884489a74810ff72b-b455 . a ; false; rdfs:label "NOT_InHand(Object)"; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b546 . a ; ; rdfs:comment ""; - rdfs:label "UnregisterListener_CycleEnd" . + rdfs:label "UnregisterListener_CycleEnd"; + _:genid-b2c68679b5d6482884489a74810ff72b-b590; + _:genid-b2c68679b5d6482884489a74810ff72b-b432; + _:genid-b2c68679b5d6482884489a74810ff72b-b441 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b392 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . + + _:genid-b2c68679b5d6482884489a74810ff72b-b463 . a ; false; rdfs:label "Save History"; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b435 . a , ; @@ -606,39 +312,16 @@ _:genid-63f1d5c8b72c490392107b96d80fbd76-b392 a a ; rdfs:label "HandleEvent"; - rdfs:comment ""; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b433 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b393 a , - ; - ; - """PREFIX ajan: -PREFIX rdf: -PREFIX mosim: - -CONSTRUCT { - ?agent mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . -} -WHERE { - ?agent rdf:type ajan:This . + rdfs:comment "" . - ?running mosim:runningOperation ?operation . + + a ; + _:genid-b2c68679b5d6482884489a74810ff72b-b731; + rdfs:label "defaultSequence"; + rdfs:comment "" . - ?operation rdf:type mosim:Operation ; - mosim:part ?part ; - mosim:basePart ?basePart ; - mosim:baseMarker ?insertConnection . - - ?instance1 rdf:type mosim:Instance ; - mosim:instanceId ?part ; - mosim:type ?mSceneObject . - - ?instance2 rdf:type mosim:Instance ; - mosim:instanceId ?basePart ; - mosim:type ?insertLocation . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b731 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b732 . a ; @@ -646,67 +329,29 @@ WHERE { true; rdfs:comment "" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b394 a ; - ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?eventType -WHERE { - VALUES ?eventType {\"PositioningFinished\"} -}""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b395 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?scene rdf:type mosim:Registry . - ?scene mosim:host ?host . - ?scene mosim:port ?port . -}""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b396 a ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:finalEvent \"PositioningFinished\" ; - mosim:mmu \"Object/Carry\" ; - mosim:actionName \"Carry01\" ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . +_:genid-b2c68679b5d6482884489a74810ff72b-b732 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b733 . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . +_:genid-b2c68679b5d6482884489a74810ff72b-b733 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b734 . - ?agent rdf:type ajan:This ; - mosim:retrieving ?mSceneObject . + + a ; + ; + ; + true; + rdfs:label "Place(Object)"; + rdfs:comment "" . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + + a ; + rdfs:comment "" . a ; ; rdfs:label "GetBoundary(Carry(Object))"; - rdfs:comment ""; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b396 . + rdfs:comment "" . a , ; @@ -716,227 +361,96 @@ WHERE { a ; ; rdfs:comment ""; - rdfs:label "GetBoundary(Retreive)"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b412 . + rdfs:label "GetBoundary(Retreive)" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b397 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b734 rdf:first ; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b398 a ; - "1"^^xsd:int; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b399 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b735 . + +_:genid-b2c68679b5d6482884489a74810ff72b-b735 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b736 . a ; ; rdfs:label "HandleEvent"; - rdfs:comment ""; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b425 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b399 a ; - ; - """ -PREFIX rdf: -PREFIX mosim: - -SELECT (count(?operation) as ?intValue) -WHERE { - ?operation rdf:type mosim:Operation . - ?some mosim:runningOperation ?running . - FILTER (?operation != ?running) -}""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b400 a ; - ""; - "5" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b401 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: - -DELETE { - ?agent mosim:tightening ?object . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?object . -}""" . - - - a ; - ; - rdfs:comment ""; - rdfs:label "RegisterListener_PositionFinished" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b402 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 3) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + rdfs:comment "" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b403 a ; - ; - """PREFIX mosim: +_:genid-b2c68679b5d6482884489a74810ff72b-b736 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b737 . -DELETE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . -} -WHERE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b737 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b738 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b404 a ; - ; - """PREFIX mosim: -PREFIX rdf: +_:genid-b2c68679b5d6482884489a74810ff72b-b738 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b739 . -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b739 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b740 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b405 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: +_:genid-b2c68679b5d6482884489a74810ff72b-b740 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b741 . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve02\" ; - mosim:instructionID ?retrieveID ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . +_:genid-b2c68679b5d6482884489a74810ff72b-b741 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b742 . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . +_:genid-b2c68679b5d6482884489a74810ff72b-b742 rdf:first ; + rdf:rest rdf:nil . - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject . + + _:genid-b2c68679b5d6482884489a74810ff72b-b743 . - mosim:RandomIDs mosim:retrieveID ?retrieveID . + + a ; + true; + rdfs:label "defaultParallel" . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b743 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b744 . a ; rdfs:label "DeleteBoundaries"; false; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b414 . a ; false; rdfs:label "Save History"; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b605 . a ; false; rdfs:comment ""; - rdfs:label "Delete IDs" . + rdfs:label "Delete IDs"; + _:genid-b2c68679b5d6482884489a74810ff72b-b415 . - - a ; - rdfs:label "defaultSequence"; + + a ; + ; + ; + true; + rdfs:label "Return(Object)"; rdfs:comment "" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b406 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b744 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b745 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b407 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: +_:genid-b2c68679b5d6482884489a74810ff72b-b745 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b746 . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value \"shelf-v1 (1)\" . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"CarryConstraint\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?bounderies rdf:type ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - - - a ; - false; - rdfs:label "DeleteBoundaries"; - rdfs:comment "" . + + a ; + false; + rdfs:label "DeleteBoundaries"; + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b452 . a ; @@ -944,1005 +458,536 @@ WHERE { rdfs:comment ""; ; ; - rdfs:label "Retrieve(Object)"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b556 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b408 a ; - ; - """PREFIX mosim: - -ASK -WHERE { - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . - ?task mosim:step ?tStep . - ?operation mosim:step ?sStep . - - { SELECT (COUNT(?someStep)-1 as ?stepCount) - WHERE { - ?running mosim:runningTask ?currTask . - ?currTask a mosim:Task . - ?currTask mosim:operation ?nextOperation . - ?nextOperation mosim:step ?someStep . - } - } - - BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?otStep) - - BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) - - FILTER(?step = ?newSStep) - FILTER(?ntStep = ?otStep) - - ?newTask a mosim:Task . - ?newTask mosim:step ?ntStep . - ?newTask mosim:operation ?newOperation . - ?newOperation mosim:step ?step . - ?newOperation mosim:type ?type . - - FILTER CONTAINS(?type,\"Tighten\") -} -""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b409 a ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; - mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; - mosim:constraint ?constraint . - - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . - - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; - mosim:value ?screwdriverObject . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + rdfs:label "Retrieve(Object)" . - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . - } LIMIT 1 - } +_:genid-b2c68679b5d6482884489a74810ff72b-b746 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b747 . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-b2c68679b5d6482884489a74810ff72b-b747 rdf:first ; + rdf:rest rdf:nil . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . + + a ; + ; + ; + true; + rdfs:label "Place(Object)"; + rdfs:comment "" . a ; false; rdfs:label "Save History"; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b559 . a ; rdfs:label "InitUpdate?!"; false; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b598 . a ; false; rdfs:comment ""; - rdfs:label "Tightened(Object)" . + rdfs:label "Tightened(Object)"; + _:genid-b2c68679b5d6482884489a74810ff72b-b460 . a ; false; rdfs:label "Create Random IDs"; - rdfs:comment "" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b410 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . -}""" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b451 . a ; false; rdfs:label "InHand(Object)"; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b545 . a ; false; rdfs:label "At(Target)"; - rdfs:comment "" . + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b596 . a ; false; rdfs:comment ""; - rdfs:label "Create Random IDs" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b411 a ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: + rdfs:label "Create Random IDs"; + _:genid-b2c68679b5d6482884489a74810ff72b-b487 . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . + + _:genid-b2c68679b5d6482884489a74810ff72b-b748; + rdfs:label "Sequence" . - test:Instruction mosim:mmu \"Object/Screw/Hand\" ; - mosim:actionName \"HandScrew01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:PositionConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . +_:genid-b2c68679b5d6482884489a74810ff72b-b748 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b749 . - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . +_:genid-b2c68679b5d6482884489a74810ff72b-b749 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b750 . - test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value ?insertConnection . +_:genid-b2c68679b5d6482884489a74810ff72b-b750 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b751 . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + + a ; + false; + rdfs:comment ""; + rdfs:label "DeleteBoundaries"; + _:genid-b2c68679b5d6482884489a74810ff72b-b535 . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . + + a ; + false; + rdfs:comment ""; + rdfs:label "DeleteBoundaries"; + _:genid-b2c68679b5d6482884489a74810ff72b-b587 . - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertConnection ?insertConnection . + + a ; + false; + rdfs:label "Delete IDs"; + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b532 . - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?insertLocation ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?insertConnection . - } LIMIT 1 - } + + a ; + false; + rdfs:comment ""; + rdfs:label "ClearRepo?!"; + _:genid-b2c68679b5d6482884489a74810ff72b-b445 . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + + a ; + false; + rdfs:label "At(Target)"; + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b422 . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b412 a ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Carry\" . - test:Instruction mosim:actionName \"Carry01\" . - test:Instruction mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" . - test:Object mosim:value \"shelf-v1 (1)\" . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - - - a ; - false; - rdfs:comment ""; - rdfs:label "DeleteBoundaries" . - - + a ; false; + rdfs:label "Save History"; rdfs:comment ""; - rdfs:label "DeleteBoundaries" . + _:genid-b2c68679b5d6482884489a74810ff72b-b411 . - - a ; - false; - rdfs:label "Delete IDs"; + + a ; + ; + ; + true; + rdfs:label "ScrewManual(Object)"; rdfs:comment "" . - - a ; - false; - rdfs:comment ""; - rdfs:label "ClearRepo?!" . +_:genid-b2c68679b5d6482884489a74810ff72b-b751 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b752 . - - a ; - false; - rdfs:label "At(Target)"; - rdfs:comment "" . +_:genid-b2c68679b5d6482884489a74810ff72b-b752 rdf:first ; + rdf:rest rdf:nil . - - a ; - false; - rdfs:label "Save History"; + + a ; + _:genid-b2c68679b5d6482884489a74810ff72b-b753; + rdfs:label "defaultSequence"; rdfs:comment "" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b413 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: +_:genid-b2c68679b5d6482884489a74810ff72b-b753 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b754 . -DELETE { - ?agent mosim:location ?target ; - mosim:nextLocation ?newTarget . -} -INSERT { - ?agent mosim:location ?newTarget . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?newTarget . -}""" . + + a , ; + rdfs:label "Retrieve_BT" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b414 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b754 rdf:first ; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b415 a ; - ; - """PREFIX mosim: -PREFIX rdf: + + _:genid-b2c68679b5d6482884489a74810ff72b-b755 . -SELECT ?eventType -WHERE { - VALUES ?eventType {\"end\"} -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b755 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b756 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b416 a ; - ; - """PREFIX mosim: -PREFIX rdf: +_:genid-b2c68679b5d6482884489a74810ff72b-b756 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b757 . -SELECT ?eventType -WHERE { - VALUES ?eventType {\"initError\"} -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b757 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b758 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b417 a ; - ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: +_:genid-b2c68679b5d6482884489a74810ff72b-b758 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b759 . -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:retrieved ?mSceneObject ; - mosim:executedTask ?task . -} -WHERE { - ?agent mosim:retrieving ?mSceneObject . +_:genid-b2c68679b5d6482884489a74810ff72b-b759 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b760 . - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b760 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b761 . - - a , ; - rdfs:label "Retrieve_BT" . +_:genid-b2c68679b5d6482884489a74810ff72b-b761 rdf:first ; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b418 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: + + a ; + _:genid-b2c68679b5d6482884489a74810ff72b-b762; + rdfs:label "defaultSequence" . -ASK -WHERE { - ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?target . -} -""" . + + a ; + true; + rdfs:label "defaultParallel" . - - rdfs:label "Sequence" . +_:genid-b2c68679b5d6482884489a74810ff72b-b762 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b763 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b419 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: +_:genid-b2c68679b5d6482884489a74810ff72b-b763 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b764 . -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + + a ; + true; + rdfs:comment "" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b420 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: +_:genid-b2c68679b5d6482884489a74810ff72b-b764 rdf:first ; + rdf:rest rdf:nil . -SELECT ((xsd:int(?int) + 3) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + + a ; + _:genid-b2c68679b5d6482884489a74810ff72b-b765; + rdfs:label "defaultSequence" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b421 a ; - ; - """PREFIX mosim: -PREFIX rdf: +_:genid-b2c68679b5d6482884489a74810ff72b-b765 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b766 . -SELECT ?eventType -WHERE { - VALUES ?eventType {\"cycleEnd\"} -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b766 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b767 . - +_:genid-b2c68679b5d6482884489a74810ff72b-b767 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b768 . + +_:genid-b2c68679b5d6482884489a74810ff72b-b768 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b769 . + + + a ; + true; + rdfs:comment "" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b769 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b770 . + +_:genid-b2c68679b5d6482884489a74810ff72b-b770 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b771 . + + a ; rdfs:label "defaultSequence"; - rdfs:comment "" . + _:genid-b2c68679b5d6482884489a74810ff72b-b773 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b422 a , - ; - ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: +_:genid-b2c68679b5d6482884489a74810ff72b-b771 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b772 . -CONSTRUCT { - ?agent mosim:tightening ?mSceneObject ; - mosim:tighteningTool ?screwdriverObject ; - mosim:tighteningConnection \"Round threaded shaft\" . -} -WHERE { - ?agent rdf:type ajan:This . +_:genid-b2c68679b5d6482884489a74810ff72b-b772 rdf:first ; + rdf:rest rdf:nil . - ?running mosim:runningOperation ?operation . + + a ; + rdfs:label "NextOperation_Tightening?"; + rdfs:comment "" . - ?operation rdf:type mosim:Operation ; - mosim:part ?part ; - mosim:tool ?screwdriverObject . - - ?instance rdf:type mosim:Instance ; - mosim:instanceId ?part ; - mosim:type ?mSceneObject . -}""" . + + a ; + true; + rdfs:comment "" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b423 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . +_:genid-b2c68679b5d6482884489a74810ff72b-b773 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b774 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b424 a ; - ; - """PREFIX mosim: +_:genid-b2c68679b5d6482884489a74810ff72b-b774 rdf:first ; + rdf:rest rdf:nil . -INSERT { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . -} -WHERE { - BIND(RAND() AS ?rand) - - BIND(CONCAT(\"Retrieve03_ID\", STR(?rand)) AS ?retrieveID) - BIND(CONCAT(\"Place03_ID\", STR(?rand)) AS ?placeID) - BIND(CONCAT(\"Return01_ID\", STR(?rand)) AS ?returnID) - BIND(CONCAT(\"ScrewManual01_ID\", STR(?rand)) AS ?screwManualID) -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b775 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b776 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b425 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . +_:genid-b2c68679b5d6482884489a74810ff72b-b776 rdf:first ; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b426 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b777 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b427 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: +_:genid-b2c68679b5d6482884489a74810ff72b-b777 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b778 . -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b778 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b779 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b428 a ; - ; - """DELETE { GRAPH ?g { ?s ?p ?o }} -WHERE { GRAPH ?g { ?s ?p ?o }}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b779 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b780 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b429 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b780 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b781 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b430 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b781 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b782 . - - a ; - rdfs:label "defaultSequence" . +_:genid-b2c68679b5d6482884489a74810ff72b-b782 rdf:first ; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b431 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: + + _:genid-b2c68679b5d6482884489a74810ff72b-b783 . -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b783 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b784 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b432 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . +_:genid-b2c68679b5d6482884489a74810ff72b-b784 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b785 . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b785 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b786 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b433 a ; - "CONSTRUCT WHERE {?s ?p ?o}"; - . +_:genid-b2c68679b5d6482884489a74810ff72b-b786 rdf:first ; + rdf:rest rdf:nil . - - a ; - rdfs:label "defaultSequence" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b787 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b434 a ; - ; - """PREFIX mosim: +_:genid-b2c68679b5d6482884489a74810ff72b-b787 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b788 . -ASK -WHERE { - { SELECT DISTINCT ?otStep ?sStep ?tStep (COUNT(?someStep)-1 as ?stepCount) - WHERE { - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . - ?task mosim:step ?tStep . - ?operation mosim:step ?sStep . - - BIND (IF (?tStep = -1, 0, IF (?sStep > 0, ?tStep, ?tStep-1)) AS ?otStep) - - FILTER (?step = ?otStep) - - ?currTask a mosim:Task . - ?currTask mosim:step ?step . - ?currTask mosim:operation ?nextOperation . - ?nextOperation mosim:step ?someStep . - } GROUP BY ?otStep ?sStep ?tStep - } +_:genid-b2c68679b5d6482884489a74810ff72b-b788 rdf:first ; + rdf:rest rdf:nil . - BIND (IF (?tStep > ?otStep, ?stepCount, ?sStep - 1) AS ?newSStep) - - FILTER(?step = ?newSStep) - FILTER(?ntStep = ?otStep) - - ?newTask a mosim:Task . - ?newTask mosim:step ?ntStep . - ?newTask mosim:operation ?newOperation . - ?newOperation mosim:step ?step . - ?newOperation mosim:type ?type . - - FILTER CONTAINS(?type,\"Tighten\") -} -""" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b789 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b435 a ; - ; - """PREFIX mosim: -PREFIX rdf: +_:genid-b2c68679b5d6482884489a74810ff72b-b789 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b790 . -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b790 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b791 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b436 a ; - ; - """ASK WHERE {?s ?p ?o} -""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b791 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b792 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b437 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: +_:genid-b2c68679b5d6482884489a74810ff72b-b792 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b793 . -DELETE { - ?agent mosim:retrieving ?object . -} -INSERT { - ?agent mosim:inHand ?object . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:retrieving ?object . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b793 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b794 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b438 a ; - ; - """PREFIX mosim: +_:genid-b2c68679b5d6482884489a74810ff72b-b794 rdf:first ; + rdf:rest rdf:nil . -INSERT { - ?running mosim:nextTaskStep ?newTStep . -} -WHERE { - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . - ?task mosim:step ?tStep . - ?operation mosim:step ?sStep . - - { SELECT (COUNT(?someStep)-1 as ?stepCount) - WHERE { - ?running mosim:runningTask ?currTask . - ?currTask a mosim:Task . - ?currTask mosim:operation ?nextOperation . - ?nextOperation mosim:step ?someStep . - } - } + + a ; + ; + ; + true; + rdfs:label "Grasp(Object)"; + rdfs:comment "" . - BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?newTStep) -}""" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b795 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b439 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b795 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b796 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b440 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?scene rdf:type mosim:Registry . - ?scene mosim:host ?host . - ?scene mosim:port ?port . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b796 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b797 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b441 a ; - ; - """PREFIX mosim: -PREFIX rdf: +_:genid-b2c68679b5d6482884489a74810ff72b-b797 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b798 . -SELECT ?eventType -WHERE { - VALUES ?eventType {\"end\"} -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b798 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b799 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b442 a , - ; - ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX ajan: -PREFIX mosim: + + a ; + ; + ; + true; + rdfs:label "Grasp(Object)"; + rdfs:comment "" . -CONSTRUCT { - ?agent mosim:nextLocation ?targetID ; - mosim:carrying ?mSceneObject . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObject ; - mosim:finalLocation ?final . - - ?area rdf:type mosim:Area ; - mosim:hasChild ?final ; - mosim:hasChild ?target . - - ?target rdf:type mosim:WalkTarget ; - rdfs:label ?targetID . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b799 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b800 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b443 a , - ; - ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX ajan: -PREFIX mosim: +_:genid-b2c68679b5d6482884489a74810ff72b-b800 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b801 . -CONSTRUCT { - ?agent mosim:retrieving ?mSceneObject . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b801 rdf:first ; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b444 a ; - ; - "{\"id\":\"Query Host\",\"title\":\"Query Host\",\"description\":\"\",\"nodes\":[\"All\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"host,port,cosim,type\",\"parameters\":[{\"label\":\"Host Type\",\"variable\":\"type\",\"variableBinding\":\"mosim:Scene\",\"title\":\"Host Type\",\"mode\":\"Dropdown\",\"note\":null,\"sparql\":{\"query\":\"undefined\"},\"possibleValues\":[{\"label\":\"CoSimulator\",\"dataValue\":\"mosim:CoSimulator\"},{\"label\":\"Registry\",\"dataValue\":\"mosim:Registry\"},{\"label\":\"Scene\",\"dataValue\":\"mosim:Scene\"}]}]}"; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type ?type . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}"""; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:Scene . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b802 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b445 a ; - ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: +_:genid-b2c68679b5d6482884489a74810ff72b-b802 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b803 . -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:placed ?mSceneObject ; - mosim:executedTask ?task . -} -WHERE { - ?agent mosim:placeing ?mSceneObject . + + a ; + ; + ; + true; + rdfs:label "Grasp(Object)"; + rdfs:comment "" . - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b803 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b804 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b446 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + + a ; + rdfs:label "defaultSequence"; + _:genid-b2c68679b5d6482884489a74810ff72b-b825 . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b804 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b805 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b447 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: +_:genid-b2c68679b5d6482884489a74810ff72b-b805 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b806 . -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b806 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b807 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b448 a ; - ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX mosim: -PREFIX ajan: +_:genid-b2c68679b5d6482884489a74810ff72b-b807 rdf:first ; + rdf:rest rdf:nil . -DELETE { - ?agent mosim:positioning ?mSceneObject . - - ?oldArea mosim:hasChild ?object . -} -INSERT { - ?newArea mosim:hasChild ?object . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . +_:genid-b2c68679b5d6482884489a74810ff72b-b808 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b809 . - ?oldArea rdf:type mosim:Area; - mosim:hasChild ?object . - - ?object rdf:type mosim:MSceneObject; - rdfs:label ?mSceneObject ; - mosim:finalLocation ?final . - - ?newArea rdf:type mosim:Area; - mosim:hasChild ?final . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b809 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b810 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b449 a ; - ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: +_:genid-b2c68679b5d6482884489a74810ff72b-b810 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b811 . -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:walkFrom ?location ; - mosim:walkTo ?targetID ; - mosim:executedTask ?task . -} -WHERE { - ?agent mosim:location ?location ; - mosim:nextLocation ?targetID . +_:genid-b2c68679b5d6482884489a74810ff72b-b811 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b812 . - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) -}""" . + + a ; + ; + ; + true; + rdfs:label "Return(Object)"; + rdfs:comment "" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b450 a ; - ; - "" . +_:genid-b2c68679b5d6482884489a74810ff72b-b812 rdf:first ; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b451 a ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: +_:genid-b2c68679b5d6482884489a74810ff72b-b813 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b814 . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . +_:genid-b2c68679b5d6482884489a74810ff72b-b814 rdf:first ; + rdf:rest rdf:nil . - test:Instruction mosim:mmu \"Object/Screw/Hand\" ; - mosim:actionName \"HandScrew01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:PositionConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value \"Screw_bigAnnotated (1)\" . +_:genid-b2c68679b5d6482884489a74810ff72b-b815 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b816 . - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . +_:genid-b2c68679b5d6482884489a74810ff72b-b816 rdf:first ; + rdf:rest rdf:nil . - test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value \"Smooth blind hole\" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b817 . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-b2c68679b5d6482884489a74810ff72b-b817 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b818 . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . +_:genid-b2c68679b5d6482884489a74810ff72b-b818 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b819 . - { SELECT ?constraint - WHERE { - ?subject rdf:type mosim:MSceneObject ; - rdfs:label \"shelf-v1 (1)\" ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"Smooth blind hole\" . - } LIMIT 1 - } +_:genid-b2c68679b5d6482884489a74810ff72b-b819 rdf:first ; + rdf:rest rdf:nil . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + + _:genid-b2c68679b5d6482884489a74810ff72b-b820 . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b820 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b821 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b452 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: +_:genid-b2c68679b5d6482884489a74810ff72b-b821 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b822 . -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b822 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b823 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b453 a ; - ; - """PREFIX mosim: -PREFIX rdf: +_:genid-b2c68679b5d6482884489a74810ff72b-b823 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b824 . -SELECT ?eventType -WHERE { - VALUES ?eventType {\"initError\"} -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b824 rdf:first ; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b454 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: +_:genid-b2c68679b5d6482884489a74810ff72b-b825 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b826 . -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +_:genid-b2c68679b5d6482884489a74810ff72b-b826 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b827 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b455 a , - ; +_:genid-b2c68679b5d6482884489a74810ff72b-b827 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b828 . + +_:genid-b2c68679b5d6482884489a74810ff72b-b828 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b829 . + +_:genid-b2c68679b5d6482884489a74810ff72b-b829 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-b2c68679b5d6482884489a74810ff72b-b438; + _:genid-b2c68679b5d6482884489a74810ff72b-b557; + _:genid-b2c68679b5d6482884489a74810ff72b-b485 . + + + a ; + ; + rdfs:label "HandleEvent"; + rdfs:comment "" . + + + _:genid-b2c68679b5d6482884489a74810ff72b-b430; + _:genid-b2c68679b5d6482884489a74810ff72b-b547; + _:genid-b2c68679b5d6482884489a74810ff72b-b425 . + + + _:genid-b2c68679b5d6482884489a74810ff72b-b588 . + + + a ; + ; + rdfs:comment ""; + rdfs:label "GetBoundary(Place)" . + + + _:genid-b2c68679b5d6482884489a74810ff72b-b548 . + + + _:genid-b2c68679b5d6482884489a74810ff72b-b497 . + + + _:genid-b2c68679b5d6482884489a74810ff72b-b470 . + + + _:genid-b2c68679b5d6482884489a74810ff72b-b449 . + + + _:genid-b2c68679b5d6482884489a74810ff72b-b551 . + + + _:genid-b2c68679b5d6482884489a74810ff72b-b453 . + + + a ; + ; + rdfs:label "HandleEvent"; + rdfs:comment "" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b408 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -1952,214 +997,292 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:finalEvent \"PositioningFinished\" ; - mosim:mmu \"Object/Carry\" ; - mosim:actionName \"Carry01\" ; - mosim:mmuProperty test:Object . + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp04\" ; + mosim:endCondition ?endCondition ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . + + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . } WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:carrying ?mSceneObject . + mosim:tighteningTool ?mSceneObjectID . + + mosim:RandomIDs mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) + + + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b456 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b409 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: -PREFIX xsd: +PREFIX test: -SELECT ((xsd:int(?int) + 1) as ?port) +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp04\" ; + mosim:endCondition ?endCondition ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . + + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tighteningTool ?mSceneObjectID . + + mosim:RandomIDs mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) + + + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b457 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b410 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: -DELETE { - ?running mosim:nextTaskStep ?otStep . - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . -} -INSERT { - ?running mosim:runningOperation ?newOperation . - ?running mosim:runningTask ?newTask . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value \"shelf-v1 (1)\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"ROOT\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { - ?running mosim:nextTaskStep ?otStep . - ?running mosim:runningTask ?task . - ?task mosim:step ?tStep . - - ?running mosim:runningOperation ?operation . - ?operation mosim:step ?sStep . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + ?subject rdf:type mosim:MSceneObject ; + rdfs:label \"shelf-v1 (1)\" ; + mosim:finalLocation ?target . - FILTER(?step = ?newSStep) - FILTER(?ntStep = ?otStep) + ?target rdf:type mosim:FinalLocation ; + mosim:constraint ?constraint . - ?newTask a mosim:Task . - ?newTask mosim:step ?ntStep . - ?newTask mosim:operation ?newOperation . - ?newOperation mosim:step ?step . -}""" . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b458 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b459 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b411 a ; ; """PREFIX rdf: PREFIX mosim: PREFIX ajan: -DELETE { - ?agent mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:retrieved ?mSceneObject ; + mosim:executedTask ?task . } WHERE { - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . -}""" . + ?agent mosim:retrieving ?mSceneObject . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b460 a , - ; - ; - """SELECT ?requestURI -WHERE { - VALUES ?requestURI {\"https://teaching-taskeditor.aitoc.eu/api.php?action=getTaskList&station=127&format=AITOCJSON&token=feg5RNmKunfWODU9sfIeyMEIdLVHY8\"} + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b461 a ; + + a ; + true; + rdfs:comment ""; + rdfs:label "Parallel" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b412 a ; ; """PREFIX mosim: PREFIX rdf: +PREFIX xsd: -SELECT ?port +SELECT ((xsd:int(?int) + 3) as ?port) WHERE { ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . + ?a mosim:clPort ?int . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b462 a , - ; +_:genid-b2c68679b5d6482884489a74810ff72b-b413 a ; ; - """PREFIX ajan: + """PREFIX mosim: PREFIX rdf: -PREFIX mosim: -CONSTRUCT { - ?agent mosim:positioning ?mSceneObject . -} +SELECT ?port WHERE { - ?agent rdf:type ajan:This . - - ?running mosim:runningOperation ?operation . - - ?operation rdf:type mosim:Operation ; - mosim:part ?part . - - ?instance rdf:type mosim:Instance ; - mosim:instanceId ?part ; - mosim:type ?mSceneObject . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b463 a ; - "1"^^xsd:int; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b464 . - - - a ; - rdfs:label "defaultSequence" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b464 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b414 a ; ; - """ -PREFIX rdf: -PREFIX mosim: - -SELECT ?intValue + """DELETE { + ?s ?p ?o . +} WHERE { - ?operation rdf:type mosim:Operation . - ?operation mosim:type ?type . - BIND ( - IF ( CONTAINS(?type,\"Position\"), 1, - IF ( CONTAINS(?type,\"Insert\"), 2, - IF ( CONTAINS(?type,\"Press\"), 3, - IF ( CONTAINS(?type,\"Tighten\"), 4, - IF ( CONTAINS(?type,\"Check\"), 5, - 0 ))))) as ?intValue) - { SELECT ?operation - WHERE { - ?running mosim:runningOperation ?operation . - }} + ?s ?p ?o . + ?s a . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b465 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b415 a ; ; """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port + +DELETE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . +} WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b466 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b416 a , + ; ; - """PREFIX mosim: + """PREFIX rdfs: PREFIX rdf: -PREFIX xsd: +PREFIX ajan: +PREFIX mosim: -SELECT ((xsd:int(?int) + 1) as ?port) +CONSTRUCT { + ?agent mosim:nextLocation ?targetID ; + mosim:carrying ?mSceneObject . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObject ; + mosim:finalLocation ?final . + + ?area rdf:type mosim:Area ; + mosim:hasChild ?final ; + mosim:hasChild ?target . + + ?target rdf:type mosim:WalkTarget ; + rdfs:label ?targetID . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b467 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b417 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId +SELECT ?host ?port WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b468 a , +_:genid-b2c68679b5d6482884489a74810ff72b-b418 a , ; ; """PREFIX ajan: @@ -2243,88 +1366,120 @@ WHERE { mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b469 a , - ; +_:genid-b2c68679b5d6482884489a74810ff72b-b419 a ; ; - """PREFIX ajan: -PREFIX rdfs: + """PREFIX rdf: PREFIX mosim: -PREFIX rdf: -PREFIX test: +PREFIX ajan: -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Locomotion/Walk\" ; - mosim:actionName \"Walk01\" ; - mosim:mmuProperty test:TargetProperty . - - test:TargetProperty mosim:key \"TargetID\" ; - mosim:value ?id . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:walkFrom ?targetID ; + mosim:walkTo ?location ; + mosim:carried ?mSceneObject ; + mosim:executedTask ?task . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?target rdf:type mosim:MSceneObject ; - rdfs:label \"WalkTarget\" ; - mosim:id ?id . + ?agent mosim:nextLocation ?targetID ; + mosim:location ?location ; + mosim:carrying ?mSceneObject . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) }""" . - - a ; - ; - ; - true; - rdfs:label "Return(Object)"; - rdfs:comment ""; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b559 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b470 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b420 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 3) as ?port) +SELECT ?host ?port ?avatarId WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b471 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b421 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: +PREFIX test: -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place01\" ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b472 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"ROOT\" . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . + mosim:RandomIDs mosim:placeID ?placeID . + + ?agent rdf:type ajan:This ; + mosim:placeing ?mSceneObject . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObject ; + mosim:finalLocation ?target . + + ?target rdf:type mosim:FinalLocation ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id \"ROOT\" ; + mosim:object ?object_1 . + + ?bounderies rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object_2 . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b473 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b422 a ; ; """PREFIX rdf: PREFIX ajan: @@ -2332,8 +1487,7 @@ PREFIX mosim: DELETE { ?agent mosim:location ?target ; - mosim:nextLocation ?newTarget ; - mosim:carrying ?object . + mosim:nextLocation ?newTarget . } INSERT { ?agent mosim:location ?newTarget . @@ -2341,43 +1495,22 @@ INSERT { WHERE { ?agent rdf:type ajan:This ; mosim:location ?target ; - mosim:nextLocation ?newTarget; - mosim:carrying ?object . + mosim:nextLocation ?newTarget . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b474 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b423 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b475 a ; - "CONSTRUCT WHERE {?s ?p ?o}"; - . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b476 a ; - ; - """PREFIX mosim: +PREFIX xsd: -INSERT { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . -} +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { - BIND(RAND() AS ?rand) - - BIND(CONCAT(\"Retrieve02_ID\", STR(?rand)) AS ?retrieveID) - BIND(CONCAT(\"Place02_ID\", STR(?rand)) AS ?placeID) - BIND(CONCAT(\"HandScrew01_ID\", STR(?rand)) AS ?handScrewID) + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b477 a , +_:genid-b2c68679b5d6482884489a74810ff72b-b424 a , ; ; """PREFIX ajan: @@ -2388,76 +1521,68 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:finalEvent \"PositioningFinished\" ; - mosim:mmu \"Object/Carry\" ; - mosim:actionName \"Carry01\" ; - mosim:mmuProperty test:Object . + mosim:mmu \"Locomotion/Walk\" ; + mosim:actionName \"Walk01\" ; + mosim:mmuProperty test:TargetProperty . - test:Object mosim:key \"Object\" ; - mosim:value \"shelf-v1 (1)\" . + test:TargetProperty mosim:key \"TargetID\" ; + mosim:value ?id . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . } WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?agent mosim:nextLocation ?newTarget . + + ?target rdf:type mosim:MSceneObject ; + rdfs:label ?newTarget ; + mosim:id ?id . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b478 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b425 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 2) as ?port) +SELECT ?eventType WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + VALUES ?eventType {\"ObjectPlaced\"} }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b479 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b426 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +SELECT ?host ?port ?avatarId WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b480 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b427 a ; ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: + """PREFIX mosim: +PREFIX rdf: -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:positioned ?mSceneObject ; - mosim:executedTask ?task . -} +SELECT ?port WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . - - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b481 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b428 a ; ; """PREFIX mosim: PREFIX rdf: @@ -2468,23 +1593,34 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b482 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b429 a ; ; """PREFIX rdf: PREFIX ajan: PREFIX mosim: -DELETE { - ?agent mosim:inHand ?object ; - mosim:placeing ?object . -} +ASK WHERE { ?agent rdf:type ajan:This ; - mosim:inHand ?object ; - mosim:placeing ?object . + mosim:location ?target ; + mosim:nextLocation ?target . +} + +""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b430 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 5) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b483 a , +_:genid-b2c68679b5d6482884489a74810ff72b-b431 a , ; ; """PREFIX ajan: @@ -2537,7 +1673,7 @@ WHERE { mosim:RandomIDs mosim:placeID ?placeID ; mosim:screwManualID ?screwManualID . - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) { SELECT ?constraint WHERE { @@ -2570,208 +1706,176 @@ WHERE { mosim:port ?port . }""" . - - a ; - ; - rdfs:label "HandleEvent"; - rdfs:comment ""; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b423 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b484 a , - ; +_:genid-b2c68679b5d6482884489a74810ff72b-b432 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; - mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; - mosim:constraint ?constraint . - - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . - - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; - mosim:value ?screwdriverObject . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-b2c68679b5d6482884489a74810ff72b-b433 a , + ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +CONSTRUCT { + ?agent mosim:tightening ?mSceneObject ; + mosim:tighteningTool ?screwdriverObject ; + mosim:tighteningConnection \"Round threaded shaft\" . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) - - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . - } LIMIT 1 - } + ?agent rdf:type ajan:This . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + ?running mosim:runningOperation ?operation . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?operation rdf:type mosim:Operation ; + mosim:part ?part ; + mosim:tool ?screwdriverObject . + + ?instance rdf:type mosim:Instance ; + mosim:instanceId ?part ; + mosim:type ?mSceneObject . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b485 a ; + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Grasp(Object)" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b434 a ; ; """PREFIX mosim: PREFIX rdf: PREFIX xsd: -SELECT ((xsd:int(?int) + 2) as ?port) +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { ?a rdf:type mosim:Avatar . ?a mosim:clPort ?int . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b486 a , - ; +_:genid-b2c68679b5d6482884489a74810ff72b-b435 a ; ; - """PREFIX ajan: -PREFIX rdfs: + """PREFIX rdf: PREFIX mosim: +PREFIX ajan: + +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:placed ?mSceneObject ; + mosim:executedTask ?task . +} +WHERE { + ?agent mosim:placeing ?mSceneObject . + + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b436 a ; + ; + """PREFIX mosim: PREFIX rdf: -PREFIX test: -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place03\" ; - mosim:startCondition ?startCondition ; - mosim:endCondition ?endCondition ; - mosim:instructionID ?placeID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Release ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . + + a ; + ; + ; + true; + rdfs:label "Walk(Assembly)"; + rdfs:comment "" . - test:Release mosim:key \"Release\" ; - mosim:value \"false\" . + + a ; + rdfs:label "defaultSequence" . - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?bound_id . +_:genid-b2c68679b5d6482884489a74810ff72b-b437 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-b2c68679b5d6482884489a74810ff72b-b438 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ((xsd:int(?int) + 4) as ?port) WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) - BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) +_:genid-b2c68679b5d6482884489a74810ff72b-b439 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: - ?bounderies rdf:type ; - mosim:constraint ?constraint . +SELECT ((xsd:int(?int) + 4) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object . + + a ; + rdfs:comment ""; + rdfs:label "defaultSequence" . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +_:genid-b2c68679b5d6482884489a74810ff72b-b440 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b487 a , - ; +_:genid-b2c68679b5d6482884489a74810ff72b-b441 a ; ; - """PREFIX rdfs: + """PREFIX mosim: PREFIX rdf: -PREFIX ajan: -PREFIX mosim: -CONSTRUCT { - ?agent mosim:placeing ?mSceneObject . -} +SELECT ?eventType WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . + VALUES ?eventType {\"cycleEnd\"} }""" . - - a ; + + a ; + ; + true; ; rdfs:comment ""; - rdfs:label "GetBoundary(Place)"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b451 . + rdfs:label "Grasp(Object)" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b488 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b442 a ; ; """PREFIX mosim: @@ -2808,27 +1912,15 @@ WHERE { } """ . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b489 a ; - ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?eventType -WHERE { - VALUES ?eventType {\"PositioningFinished\"} -}""" . - - - a ; - true; + + a ; + ; + true; + ; rdfs:comment ""; - rdfs:label "PrioParallel" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b490 a ; - ; - "" . + rdfs:label "Grasp(Object)" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b491 a , +_:genid-b2c68679b5d6482884489a74810ff72b-b443 a , ; ; """PREFIX ajan: @@ -2841,32 +1933,32 @@ CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place02\" ; + mosim:actionName \"Place03\" ; mosim:startCondition ?startCondition ; mosim:endCondition ?endCondition ; mosim:instructionID ?placeID ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Release ; mosim:mmuProperty test:TargetConstraint ; - mosim:mmuProperty test:ReferenceConstraint ; + mosim:mmuProperty test:GraspingPoint ; mosim:constraint ?constraint_1 ; mosim:constraint ?constraint_2 . test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + mosim:value ?screwdriverObject . test:Release mosim:key \"Release\" ; mosim:value \"false\" . test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?insertConnection . - - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?bound_id . + mosim:value ?bound_id . ?constraint_1 rdf:type mosim:MConstraint ; mosim:object ?object_1 . + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . + ?constraint_2 rdf:type mosim:MConstraint ; mosim:object ?object_2 . @@ -2879,39 +1971,30 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertConnection ?insertConnection . + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . mosim:RandomIDs mosim:retrieveID ?retrieveID ; mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . + mosim:screwManualID ?screwManualID . BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) - BIND(CONCAT(?handScrewID, \":end+ 0.01\") AS ?endCondition) + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) - { SELECT ?constraint_1 - WHERE { - ?agent rdf:type ajan:This ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?insertLocation ; - mosim:constraint ?constraint_1 . - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:id ?insertConnection . - } LIMIT 1 - } - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . + ?bounderies_1 rdf:type ; + mosim:constraint ?constraint_1 . - ?bounderies rdf:type ; + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object_1 . + + FILTER (?bound_id != \"GraspConstraint\") + + ?bounderies_2 rdf:type ; mosim:constraint ?constraint_2 . - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; mosim:object ?object_2 . { SELECT ?cosim @@ -2927,59 +2010,29 @@ WHERE { mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b492 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . -}""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b493 a , - ; +_:genid-b2c68679b5d6482884489a74810ff72b-b444 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve03\" ; - mosim:instructionID ?retrieveID ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . +PREFIX xsd: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:retrieveID ?retrieveID . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b494 a ; - ""; - "5" . + + a ; + rdfs:comment ""; + rdfs:label "CreateEndServer" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b445 a ; + ; + """DELETE { GRAPH ?g { ?s ?p ?o }} +WHERE { GRAPH ?g { ?s ?p ?o }}""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b495 a , +_:genid-b2c68679b5d6482884489a74810ff72b-b446 a , ; ; """PREFIX ajan: @@ -2997,16 +2050,24 @@ CONSTRUCT { mosim:instructionID ?returnID ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . test:Object mosim:key \"Object\" ; mosim:value ?screwdriverObject . test:TargetConstraint mosim:key \"TargetConstraint\" ; mosim:value \"ROOT\" . + + test:TargetConstraint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -3029,11 +2090,18 @@ WHERE { mosim:finalLocation ?target . ?target rdf:type mosim:FinalLocation ; - mosim:constraint ?constraint . + mosim:constraint ?constraint_1 . - ?constraint rdf:type mosim:MConstraint ; + ?constraint_1 rdf:type mosim:MConstraint ; mosim:id \"ROOT\" ; - mosim:object ?object . + mosim:object ?object_1 . + + ?bounderies rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object_2 . { SELECT ?cosim WHERE { @@ -3048,15 +2116,114 @@ WHERE { mosim:port ?port . }""" . - - a ; - ; - rdfs:label "HandleEvent"; +_:genid-b2c68679b5d6482884489a74810ff72b-b447 a ; + "CONSTRUCT WHERE {?s ?p ?o}"; + . + +_:genid-b2c68679b5d6482884489a74810ff72b-b448 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: + +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:walkFrom ?location ; + mosim:walkTo ?targetID ; + mosim:executedTask ?task . +} +WHERE { + ?agent mosim:location ?location ; + mosim:nextLocation ?targetID . + + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b449 a ; + ; + """PREFIX mosim: + +DELETE { + mosim:RandomIDs mosim:placeID ?placeID . +} +WHERE { + mosim:RandomIDs mosim:placeID ?placeID . +}""" . + + + a ; + ; + true; + ; rdfs:comment ""; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b386 . + rdfs:label "Retrieve(object)" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b496 a , - ; +_:genid-b2c68679b5d6482884489a74810ff72b-b450 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 5) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b451 a ; + ; + """PREFIX mosim: + +INSERT { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . +} +WHERE { + BIND(RAND() AS ?rand) + + BIND(CONCAT(\"Retrieve02_ID\", STR(?rand)) AS ?retrieveID) + BIND(CONCAT(\"Place02_ID\", STR(?rand)) AS ?placeID) + BIND(CONCAT(\"HandScrew01_ID\", STR(?rand)) AS ?handScrewID) +}""" . + + + a ; + rdfs:comment ""; + rdfs:label "CreateInitErrorServer" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b452 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b453 a ; + ; + """PREFIX mosim: + +INSERT { + mosim:RandomIDs mosim:placeID ?placeID . +} +WHERE { + BIND(RAND() AS ?rand) + + BIND(CONCAT(\"Place01_ID\", STR(?rand)) AS ?placeID) +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b454 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -3066,12 +2233,28 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Locomotion/Walk\" ; - mosim:actionName \"Walk01\" ; - mosim:mmuProperty test:TargetProperty . + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . - test:TargetProperty mosim:key \"TargetID\" ; - mosim:value ?id . + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"CarryConstraint\" . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -3081,20 +2264,126 @@ WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?agent mosim:nextLocation ?newTarget . + ?agent rdf:type ajan:This ; + mosim:retrieving ?mSceneObject . - ?target rdf:type mosim:MSceneObject ; - rdfs:label ?newTarget ; - mosim:id ?id . + ?bounderies_1 rdf:type ; + mosim:constraint ?constraint_1 . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id \"CarryConstraint\" ; + mosim:object ?object_1 . + + ?bounderies_2 rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object_2 . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b497 a , - ; - ; + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Place(Object)" . + + + a ; + rdfs:comment ""; + rdfs:label "CreateObjectPlacedServer" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b455 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"end\"} +}""" . + + + a ; + rdfs:comment ""; + rdfs:label "CreateAnimateFingersServer" . + + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "ScrewManual(Object)" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b456 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + + + a ; + rdfs:comment ""; + rdfs:label "CreateCycleEndServer" . + + + a ; + rdfs:comment ""; + rdfs:label "DeleteObjectPlacedServer" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b457 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + + + a ; + rdfs:comment ""; + rdfs:label "DeleteAnimateFingersServer" . + + + a ; + rdfs:comment ""; + rdfs:label "CreatePositionServer" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b458 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 3) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + + + a ; + rdfs:comment ""; + rdfs:label "DeleteCycleEndServer" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b459 a , + ; + ; """PREFIX ajan: PREFIX rdfs: PREFIX mosim: @@ -3104,30 +2393,34 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; - mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; - mosim:constraint ?constraint . + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place03\" ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . - - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + test:Object mosim:key \"Object\" ; mosim:value ?screwdriverObject . - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?bound_id . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -3136,36 +2429,33 @@ CONSTRUCT { WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - + ?agent rdf:type ajan:This ; mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; mosim:tighteningTool ?screwdriverObject . mosim:RandomIDs mosim:placeID ?placeID ; mosim:screwManualID ?screwManualID . - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . - } LIMIT 1 - } + ?bounderies_1 rdf:type ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object_1 . + + FILTER (?bound_id != \"GraspConstraint\") + + ?bounderies_2 rdf:type ; + mosim:constraint ?constraint_2 . ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + mosim:id \"GraspConstraint\" ; + mosim:object ?object_2 . - { SELECT ?cosim + { SELECT ?cosim WHERE { ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -3178,8 +2468,37 @@ WHERE { mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b498 a , - ; + + a ; + rdfs:comment ""; + rdfs:label "DeleteInitServer" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b460 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +DELETE { + ?agent mosim:tightening ?object . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?object . +}""" . + + + a ; + rdfs:comment ""; + rdfs:label "DeleteEndServer" . + + + a ; + rdfs:comment ""; + rdfs:label "DeletePositionServer" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b461 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -3190,23 +2509,27 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Object/Screw/Hand\" ; - mosim:actionName \"HandScrew01\" ; - mosim:instructionID ?handScrewID ; + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; mosim:startCondition ?startCondition ; - mosim:mmuProperty test:Object ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:PositionConstraint ; + mosim:mmuProperty test:ReferenceConstraint ; mosim:constraint ?constraint . - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . + + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . test:Handedness mosim:key \"Handedness\" ; mosim:value \"right\" . - test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value ?insertConnection . + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . @@ -3220,27 +2543,27 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertConnection ?insertConnection . + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) { SELECT ?constraint WHERE { ?agent rdf:type ajan:This ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?insertLocation ; + rdfs:label ?screwObject ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:id ?insertConnection . + mosim:id ?tighteningConnection . } LIMIT 1 } @@ -3260,105 +2583,85 @@ WHERE { mosim:port ?port . }""" . - - a ; - true; +_:genid-b2c68679b5d6482884489a74810ff72b-b462 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +ASK +WHERE { + ?agent rdf:type ajan:This ; + mosim:location ?target ; + mosim:nextLocation ?target . +} +""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b463 a ; + "1"^^xsd:int; + _:genid-b2c68679b5d6482884489a74810ff72b-b464 . + + + a ; + ; rdfs:comment ""; - rdfs:label "Parallel"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b578 . + rdfs:label "GetBoundary(Grasp(Object))" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b499 a , - ; + + a ; + ; + rdfs:comment ""; + rdfs:label "GetBoundary(ScrewManual(Object))" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b464 a ; ; - "{\"id\":\"Idle Instruction\",\"title\":\"Idle Instruction\",\"description\":\"\",\"nodes\":[\"Action\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"cosim,host,port\",\"parameters\":[]}"; - """PREFIX mosim: + """ PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:mmu \"Pose/Idle\" . - test:Instruction mosim:actionName \"Idle\" . +PREFIX mosim: - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -} -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}"""; - """PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Pose/Idle\" . - test:Instruction mosim:actionName \"Idle\" . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -} +SELECT (count(?operation) as ?intValue) WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?operation rdf:type mosim:Operation . + ?some mosim:runningOperation ?running . + FILTER (?operation != ?running) }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b500 a ; - ; - """PREFIX mosim: -PREFIX rdf: + + a ; + ; + rdfs:comment ""; + rdfs:label "GetBoundary(Grasp(Object))" . -SELECT ?eventType -WHERE { - VALUES ?eventType {\"cycleEnd\"} -}""" . + + a ; + ; + "http://www.ajan.de/behavior/bt-ns#current"; + rdfs:comment ""; + rdfs:label "GetMMUs" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b501 a , - ; - ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX ajan: -PREFIX mosim: + + a ; + ; + rdfs:comment ""; + rdfs:label "HandleEvent" . -CONSTRUCT { - ?agent mosim:nextLocation ?targetID . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObject . - - ?area rdf:type mosim:Area ; - mosim:hasChild ?subject ; - mosim:hasChild ?target . - - ?target rdf:type mosim:WalkTarget ; - rdfs:label ?targetID . -}""" . + + a ; + true . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b502 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + + a ; + ; + rdfs:comment ""; + rdfs:label "GetBoundary(Grasp(Object))" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b503 a , - ; + + a ; + ; + rdfs:comment ""; + rdfs:label "GetBoundary(Grasp(Object))" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b465 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -3368,17 +2671,25 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve01\" ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp03\" ; mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"CarryConstraint\" . + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraint\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . @@ -3392,12 +2703,14 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:retrieving ?mSceneObject . + mosim:inserting ?mSceneObjectID . - ?bounderies rdf:type ; + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator . @@ -3405,18 +2718,75 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b504 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b466 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +SELECT ?host ?port ?avatarId WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + + + a ; + ; + rdfs:label "defaultIsSucceeding" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b467 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "defaultIsSucceeding" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b468 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b505 a ; + + a ; + ; + rdfs:label "defaultIsSucceeding" . + + + a ; + ; + rdfs:label "defaultIsSucceeding" . + + + a ; + true; + rdfs:label "defaultParallel" . + + + a , ; + ; + rdfs:label "Tighten_BT" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b469 a ; ; """PREFIX mosim: PREFIX rdf: @@ -3427,11 +2797,72 @@ WHERE { ?cosim mosim:port ?port . }""" . - - a ; - rdfs:label "defaultPriority" . + + a ; + ; + rdfs:label "defaultIsSucceeding" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b470 a ; + ; + """PREFIX mosim: + +INSERT { + ?running mosim:nextTaskStep ?newTStep . +} +WHERE { + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . + + { SELECT (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?currTask . + ?currTask a mosim:Task . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } + } + + BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?newTStep) +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b471 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Locomotion/Walk\" ; + mosim:actionName \"Walk01\" ; + mosim:mmuProperty test:TargetProperty . + + test:TargetProperty mosim:key \"TargetID\" ; + mosim:value ?id . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?target rdf:type mosim:MSceneObject ; + rdfs:label \"WalkTarget\" ; + mosim:id ?id . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b506 a , +_:genid-b2c68679b5d6482884489a74810ff72b-b472 a , ; ; """PREFIX ajan: @@ -3444,26 +2875,42 @@ CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place03\" ; + mosim:actionName \"Place02\" ; mosim:startCondition ?startCondition ; mosim:endCondition ?endCondition ; mosim:instructionID ?placeID ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Release ; mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . + mosim:mmuProperty test:GraspingPoint ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 ; + mosim:constraint ?constraint_3 . test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . + mosim:value ?mSceneObject . test:Release mosim:key \"Release\" ; mosim:value \"false\" . test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?bound_id . + mosim:value ?insertConnection . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?bound_id . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . + + ?constraint_3 rdf:type mosim:MConstraint ; + mosim:object ?object_3 . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -3474,26 +2921,53 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . + mosim:inserting ?mSceneObject ; + mosim:insertConnection ?insertConnection . mosim:RandomIDs mosim:retrieveID ?retrieveID ; mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . + mosim:handScrewID ?handScrewID . BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) - BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) - - ?bounderies rdf:type ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object . + BIND(CONCAT(?handScrewID, \":end+ 0.01\") AS ?endCondition) - { SELECT ?cosim + { SELECT ?constraint_1 WHERE { - ?cosim rdf:type mosim:CoSimulator ; + ?agent rdf:type ajan:This ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?insertLocation ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id ?insertConnection . + } LIMIT 1 + } + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + ?bounderies rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object_2 . + + FILTER (?bound_id != \"GraspConstraint\") + + ?bounderies_2 rdf:type ; + mosim:constraint ?constraint_3 . + + ?constraint_3 rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object_3 . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . } LIMIT 1 @@ -3504,7 +2978,56 @@ WHERE { mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b507 a , +_:genid-b2c68679b5d6482884489a74810ff72b-b473 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?scene rdf:type mosim:Registry . + ?scene mosim:host ?host . + ?scene mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b474 a . + + + rdfs:comment ""; + rdfs:label "Parallel"; + _:genid-b2c68679b5d6482884489a74810ff72b-b696 . + +_:genid-b2c68679b5d6482884489a74810ff72b-b474 + "1"^^xsd:int; + _:genid-b2c68679b5d6482884489a74810ff72b-b475 . + +_:genid-b2c68679b5d6482884489a74810ff72b-b475 a ; + ; + """ +PREFIX rdf: +PREFIX mosim: + +SELECT ?intValue +WHERE { + ?operation rdf:type mosim:Operation . + ?operation mosim:type ?type . + BIND ( + IF ( CONTAINS(?type,\"Position\"), 1, + IF ( CONTAINS(?type,\"Insert\"), 2, + IF ( CONTAINS(?type,\"Press\"), 3, + IF ( CONTAINS(?type,\"Tighten\"), 4, + IF ( CONTAINS(?type,\"Check\"), 5, + 0 ))))) as ?intValue) + { SELECT ?operation + WHERE { + ?running mosim:runningOperation ?operation . + }} +}""" . + + + a ; + rdfs:label "defaultSequence" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b476 a , ; ; """PREFIX ajan: @@ -3514,66 +3037,50 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Screw/Hand\" ; - mosim:actionName \"HandScrew01\" ; - mosim:instructionID \"HandScrew01_ID\" ; - mosim:startCondition \"Place02_ID:cycleEnd\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:PositionConstraint ; + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve03\" ; + mosim:instructionID ?retrieveID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:GraspingPoint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value \"Screw_bigAnnotated (1)\" . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value \"Smooth blind hole\" . + mosim:value ?screwdriverObject . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . - ?constraint rdf:type mosim:MConstraint ; + ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - { SELECT ?constraint - WHERE { - ?subject rdf:type mosim:MSceneObject ; - rdfs:label \"shelf-v1 (1)\" ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"Smooth blind hole\" . - } LIMIT 1 - } + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:retrieveID ?retrieveID . + + ?bounderies rdf:type ; + mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + mosim:object ?object . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b508 a , - ; +_:genid-b2c68679b5d6482884489a74810ff72b-b477 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -3583,17 +3090,26 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place01\" ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp03\" ; + mosim:endCondition ?endCondition ; mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value \"shelf-v1 (1)\" . + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraint\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . @@ -3606,23 +3122,34 @@ WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?subject rdf:type mosim:MSceneObject ; - rdfs:label \"shelf-v1 (1)\" ; - mosim:finalLocation ?target . - - ?target rdf:type mosim:FinalLocation ; + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObjectID . + + mosim:RandomIDs mosim:handScrewID ?handScrewID . + + BIND(CONCAT(?handScrewID, \":end\") AS ?endCondition) + + + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; mosim:constraint ?constraint . - + ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + mosim:id \"GraspConstraint\" ; + mosim:object ?object . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b509 a , - ; + + a ; + false; + rdfs:label "Positioned(Object)"; + rdfs:comment "" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b478 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -3632,19 +3159,24 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place01\" ; + mosim:finalEvent \"PositioningFinished\" ; + mosim:mmu \"Object/Carry\" ; + mosim:actionName \"Carry01\" ; mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:GraspingPoint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; mosim:value ?mSceneObject . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . - - ?constraint rdf:type mosim:MConstraint ; + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; @@ -3652,132 +3184,127 @@ CONSTRUCT { mosim:port ?port . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:placeing ?mSceneObject . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObject ; - mosim:finalLocation ?target . + mosim:retrieving ?mSceneObject . - ?target rdf:type mosim:FinalLocation ; + ?bounderies rdf:type ; mosim:constraint ?constraint . - + ?constraint rdf:type mosim:MConstraint ; - mosim:id \"ROOT\" ; - mosim:object ?object . + mosim:id \"GraspConstraintR\" ; + mosim:object ?object . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b510 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: - -ASK -WHERE { - ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?target . -} - -""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b511 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b479 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 3) as ?port) +SELECT ?host ?port WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b512 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b480 a ; ; """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: PREFIX test: -PREFIX mosim: -INSERT { - ?agent mosim:runningTask test:Task . - ?agent mosim:runningOperation test:Operation . - test:Task mosim:step -1 . - test:Task a mosim:Task . - test:Task mosim:operation test:Operation . - - test:Operation mosim:step -1 . - test:Operation a mosim:Operation . - - ?agent mosim:hand \"Right\" . - ?agent mosim:location \"material_station_target\" . -} -WHERE { - ?agent rdf:type ajan:This . -}""" . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b513 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint . + + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b514 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve03\" ; - mosim:instructionID ?retrieveID ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - + ?agent rdf:type ajan:This ; mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; mosim:tighteningTool ?screwdriverObject . - mosim:RandomIDs mosim:retrieveID ?retrieveID . + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b515 a , + + a ; + true; + rdfs:comment ""; + rdfs:label "defaultPrioParallel" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b481 a , ; ; """PREFIX ajan: @@ -3787,122 +3314,109 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place03\" ; - mosim:endCondition ?endCondition ; - mosim:instructionID ?placeID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Release ; - mosim:mmuProperty test:TargetConstraint ; + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp04\" ; + mosim:endCondition ?endCondition ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - test:Release mosim:key \"Release\" ; - mosim:value \"false\" . + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?bound_id . + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraint\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . + mosim:tighteningTool ?mSceneObjectID . - BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) + mosim:RandomIDs mosim:returnID ?returnID . + + BIND(CONCAT(?returnID, \":end\") AS ?endCondition) - ?bounderies rdf:type ; + + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; + mosim:id \"GraspConstraint\" ; mosim:object ?object . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b516 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b517 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + + a ; + rdfs:label "Success"; + rdfs:comment "" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b518 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + + a ; + ; + ; + true; + rdfs:label "Place(Object)"; + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b650 . + + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Retrieve(Shelf)"; + _:genid-b2c68679b5d6482884489a74810ff72b-b654 . + + + a ; + rdfs:label "defaultSequence" . + + + a ; + ; + ; + rdfs:label "HandScrew(Screw)"; + true; + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b655 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b519 a ; +_:genid-b2c68679b5d6482884489a74810ff72b-b482 a ; ; """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: -DELETE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . -} +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b520 a ; - ; - """ASK WHERE {?s ?p ?o} -""" . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b521 a , +_:genid-b2c68679b5d6482884489a74810ff72b-b483 a , ; ; """PREFIX ajan: @@ -3913,13 +3427,20 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve02\" ; - mosim:instructionID \"Retrieve02_ID\" ; - mosim:mmuProperty test:Object . + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value \"Screw_bigAnnotated (1)\" . + mosim:value \"shelf-v1 (1)\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"CarryConstraint\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -3929,1348 +3450,3430 @@ WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?bounderies rdf:type ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b522 a ; + + a ; + rdfs:label "defaultSequence" . + + + a ; + rdfs:comment ""; + rdfs:label "Sequence" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b484 a ; + ""; + "5" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b485 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 1) as ?port) +SELECT ?eventType WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + VALUES ?eventType {\"AnimateFingers\"} }""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b523 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . -}""" . - - + a ; ; ; true; - rdfs:label "Walk(Assembly)"; - rdfs:comment ""; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b536 . - - - a ; - rdfs:label "defaultSequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b524 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b524 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b525 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b525 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b526 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b526 rdf:first ; - rdf:rest rdf:nil . - - - a ; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b527; + rdfs:label "Carry(Object)"; rdfs:comment ""; - rdfs:label "defaultSequence" . + _:genid-b2c68679b5d6482884489a74810ff72b-b657 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b527 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b528 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b528 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b529 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b529 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b530 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b530 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b531 . +_:genid-b2c68679b5d6482884489a74810ff72b-b486 a ; + ; + """PREFIX mosim: -_:genid-63f1d5c8b72c490392107b96d80fbd76-b531 rdf:first ; - rdf:rest rdf:nil . +ASK +WHERE { + { SELECT DISTINCT ?otStep ?sStep ?tStep (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . + + BIND (IF (?tStep = -1, 0, IF (?sStep > 0, ?tStep, ?tStep-1)) AS ?otStep) + + FILTER (?step = ?otStep) + + ?currTask a mosim:Task . + ?currTask mosim:step ?step . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } GROUP BY ?otStep ?sStep ?tStep + } - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b532 . + BIND (IF (?tStep > ?otStep, ?stepCount, ?sStep - 1) AS ?newSStep) + + FILTER(?step = ?newSStep) + FILTER(?ntStep = ?otStep) + + ?newTask a mosim:Task . + ?newTask mosim:step ?ntStep . + ?newTask mosim:operation ?newOperation . + ?newOperation mosim:step ?step . + ?newOperation mosim:type ?type . + + FILTER CONTAINS(?type,\"Tighten\") +} +""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b532 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b493; - rdf:rest rdf:nil . +_:genid-b2c68679b5d6482884489a74810ff72b-b487 a ; + ; + """PREFIX mosim: - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b533 . +INSERT { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . +} +WHERE { + BIND(RAND() AS ?rand) + + BIND(CONCAT(\"Retrieve03_ID\", STR(?rand)) AS ?retrieveID) + BIND(CONCAT(\"Place03_ID\", STR(?rand)) AS ?placeID) + BIND(CONCAT(\"Return01_ID\", STR(?rand)) AS ?returnID) + BIND(CONCAT(\"ScrewManual01_ID\", STR(?rand)) AS ?screwManualID) +}""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b533 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b509; - rdf:rest rdf:nil . + + a ; + true; + rdfs:label "idle"; + rdfs:comment ""; + ; + ; + _:genid-b2c68679b5d6482884489a74810ff72b-b658 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b534 . + + a ; + rdfs:comment "" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b534 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b391; - rdf:rest rdf:nil . +_:genid-b2c68679b5d6482884489a74810ff72b-b488 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b535 . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Locomotion/Walk\" ; + mosim:actionName \"Walk00\" ; + mosim:mmuProperty test:TargetProperty . + + test:TargetProperty mosim:key \"TargetID\" ; + mosim:value ?id . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b535 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b486; - rdf:rest rdf:nil . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?agent mosim:nextLocation ?targetID . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b536 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b496; - rdf:rest rdf:nil . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b537 . + ?target rdf:type mosim:MSceneObject ; + rdfs:label ?targetID ; + mosim:id ?id . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b537 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b407; - rdf:rest rdf:nil . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . - - a ; + + a ; + ; rdfs:comment ""; - rdfs:label "CreateEndServer"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b471, - _:genid-63f1d5c8b72c490392107b96d80fbd76-b404 . - - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b538 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b538 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b498; - rdf:rest rdf:nil . - - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b539 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b539 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b455; - rdf:rest rdf:nil . - - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b540 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b540 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b499; - rdf:rest rdf:nil . + rdfs:label "RegisterListener_AnimateFingers" . - _:genid-63f1d5c8b72c490392107b96d80fbd76-b541 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b541 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b405; - rdf:rest rdf:nil . - - - rdfs:label "ScrewManual(Object)"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b544 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b542 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b484; - rdf:rest rdf:nil . - - a ; ; - true; ; + rdfs:label "Retrieve(Screw)"; + true; rdfs:comment ""; - rdfs:label "Retrieve(object)"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b549 . + _:genid-b2c68679b5d6482884489a74810ff72b-b660 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b543 . + + a ; + rdfs:label "defaultSequence" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b543 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b469; - rdf:rest rdf:nil . +_:genid-b2c68679b5d6482884489a74810ff72b-b489 a ; + ; + """PREFIX mosim: +PREFIX rdf: - - a ; +SELECT ?eventType +WHERE { + VALUES ?eventType {\"initError\"} +}""" . + + + a ; + ; rdfs:comment ""; - rdfs:label "CreateInitErrorServer"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b419, - _:genid-63f1d5c8b72c490392107b96d80fbd76-b522 . + rdfs:label "RegisterListener_CycleEnd" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b544 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b483; - rdf:rest rdf:nil . +_:genid-b2c68679b5d6482884489a74810ff72b-b490 a ; + "CONSTRUCT WHERE {?s ?p ?o}"; + . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b545 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b515; - rdf:rest rdf:nil . + + a ; + ; + rdfs:comment ""; + rdfs:label "RegisterListener_ObjcetPlaced" . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b546 . +_:genid-b2c68679b5d6482884489a74810ff72b-b491 a , + ; + ; + """PREFIX rdfs: +PREFIX rdf: +PREFIX ajan: +PREFIX mosim: -_:genid-63f1d5c8b72c490392107b96d80fbd76-b546 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b468; - rdf:rest rdf:nil . +CONSTRUCT { + ?agent mosim:placeing ?mSceneObject . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . +}""" . - + a ; ; true; ; rdfs:comment ""; - rdfs:label "Place(Object)"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b555 . - - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b547 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b547 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b521; - rdf:rest rdf:nil . + rdfs:label "walk(walkTarget)"; + _:genid-b2c68679b5d6482884489a74810ff72b-b661 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b548 . + + a ; + ; + rdfs:comment ""; + rdfs:label "Tighten_Goal" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b548 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b491; - rdf:rest rdf:nil . + + a ; + ; + rdfs:comment ""; + rdfs:label "Position_Goal" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b549 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b514; - rdf:rest rdf:nil . + + a ; + rdfs:comment ""; + rdfs:label "defaultSequence" . - + a ; ; true; ; rdfs:comment ""; - rdfs:label "ScrewManual(Object)"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b558 . + rdfs:label "Place(Screw)"; + _:genid-b2c68679b5d6482884489a74810ff72b-b662 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b550 . + + a ; + rdfs:label "defaultSequence" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b550 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b390; - rdf:rest rdf:nil . +_:genid-b2c68679b5d6482884489a74810ff72b-b492 a ; + ; + """PREFIX mosim: +PREFIX rdf: - - a ; - rdfs:comment ""; - rdfs:label "CreateCycleEndServer"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b420 . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"PositioningFinished\"} +}""" . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b551 . +_:genid-b2c68679b5d6482884489a74810ff72b-b493 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b551 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b508; - rdf:rest rdf:nil . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b552 . + + a ; + rdfs:comment ""; + rdfs:label "Sequence" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b552 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b507; - rdf:rest rdf:nil . +_:genid-b2c68679b5d6482884489a74810ff72b-b494 a ; + ; + """ASK WHERE {?s ?p ?o} +""" . - - a ; + + a ; + ; + ; rdfs:comment ""; - rdfs:label "CreatePositionServer"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b452, - _:genid-63f1d5c8b72c490392107b96d80fbd76-b447 . + rdfs:label "GET_TaskList" . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b553 . +_:genid-b2c68679b5d6482884489a74810ff72b-b495 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b553 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b374; - rdf:rest rdf:nil . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b554; - . +_:genid-b2c68679b5d6482884489a74810ff72b-b496 a ; + ""; + "5" . - - a ; - rdfs:comment ""; - rdfs:label "DeleteCycleEndServer"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b402 . +_:genid-b2c68679b5d6482884489a74810ff72b-b497 a ; + ; + """PREFIX rdfs: +PREFIX rdf: +PREFIX mosim: +PREFIX ajan: -_:genid-63f1d5c8b72c490392107b96d80fbd76-b554 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b373; - rdf:rest rdf:nil . +DELETE { + ?agent mosim:positioning ?mSceneObject . + + ?oldArea mosim:hasChild ?object . +} +INSERT { + ?newArea mosim:hasChild ?object . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . - - a ; + ?oldArea rdf:type mosim:Area; + mosim:hasChild ?object . + + ?object rdf:type mosim:MSceneObject; + rdfs:label ?mSceneObject ; + mosim:finalLocation ?final . + + ?newArea rdf:type mosim:Area; + mosim:hasChild ?final . +}""" . + + + a ; + ; + true; + ; rdfs:comment ""; - rdfs:label "DeleteInitServer"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b376 . + rdfs:label "Retrieve(Screw)"; + _:genid-b2c68679b5d6482884489a74810ff72b-b663 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b555 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b506; - rdf:rest rdf:nil . + + a ; + rdfs:label "defaultSequence" . - - a ; + + a ; + ; + ; + rdfs:label "Place(Screw)"; + true; rdfs:comment ""; - rdfs:label "DeleteEndServer"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b461 . + _:genid-b2c68679b5d6482884489a74810ff72b-b665 . - - a ; + + a ; + ; + ; + true; + rdfs:label "Walk(Target)"; rdfs:comment ""; - rdfs:label "DeletePositionServer"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b431 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b556 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b503; - rdf:rest rdf:nil . + _:genid-b2c68679b5d6482884489a74810ff72b-b671 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b557 . + + a ; + false; + rdfs:comment ""; + rdfs:label "SetTask?!" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b557 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b477; - rdf:rest rdf:nil . + + a ; + ; + rdfs:comment ""; + rdfs:label "RegisterListener_End" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b558 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b497; - rdf:rest rdf:nil . +_:genid-b2c68679b5d6482884489a74810ff72b-b498 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b559 rdf:first _:genid-63f1d5c8b72c490392107b96d80fbd76-b495; - rdf:rest rdf:nil . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b510 . +_:genid-b2c68679b5d6482884489a74810ff72b-b499 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b520 . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve02\" ; + mosim:instructionID \"Retrieve02_ID\" ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value \"Screw_bigAnnotated (1)\" . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b436 . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b418 . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . - - a ; + + a ; + ; + true; ; rdfs:comment ""; - rdfs:label "GetBoundary(ScrewManual(Object))"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b409 . - - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b408 . - - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b434 . + rdfs:label "Place(Shelf)"; + _:genid-b2c68679b5d6482884489a74810ff72b-b674 . - - a ; + + a ; + ; + true; ; - "http://www.ajan.de/behavior/bt-ns#current"; rdfs:comment ""; - rdfs:label "GetMMUs"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b440, - _:genid-63f1d5c8b72c490392107b96d80fbd76-b395 . - - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b488 . + rdfs:label "HandScrew(Screw)"; + _:genid-b2c68679b5d6482884489a74810ff72b-b676 . - - a ; - ; + + a ; + ; rdfs:comment ""; - rdfs:label "HandleEvent"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b475 . + rdfs:label "Repeater" . - - a ; - true; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b571 . +_:genid-b2c68679b5d6482884489a74810ff72b-b500 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . - - a ; - true; - rdfs:label "defaultPrioParallel"; - rdfs:comment "" . + + a ; + false; + rdfs:comment ""; + rdfs:label "SetOperation?!" . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b560; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b463 . +_:genid-b2c68679b5d6482884489a74810ff72b-b501 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: -_:genid-63f1d5c8b72c490392107b96d80fbd76-b560 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b561 . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b561 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b562 . + test:Instruction mosim:mmu \"Object/Screw/Hand\" ; + mosim:actionName \"HandScrew01\" ; + mosim:instructionID \"HandScrew01_ID\" ; + mosim:startCondition \"Place02_ID:cycleEnd\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:PositionConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value \"Screw_bigAnnotated (1)\" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b562 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b563 . + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b563 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b564 . + test:PositionConstraint mosim:key \"PositionConstraint\" ; + mosim:value \"Smooth blind hole\" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b564 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b565 . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b565 rdf:first ; - rdf:rest rdf:nil . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - - a ; - rdfs:label "defaultPriority"; - rdfs:comment "" . + { SELECT ?constraint + WHERE { + ?subject rdf:type mosim:MSceneObject ; + rdfs:label \"shelf-v1 (1)\" ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"Smooth blind hole\" . + } LIMIT 1 + } - - a ; - ; - rdfs:label "defaultIsSucceeding" . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b392 . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b377 . +_:genid-b2c68679b5d6482884489a74810ff72b-b502 a ; + ; + """PREFIX mosim: +PREFIX rdf: - - a ; - ; - rdfs:comment ""; - rdfs:label "defaultIsSucceeding" . - - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b566 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b566 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b567 . +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b567 rdf:first ; - rdf:rest rdf:nil . + + a ; + rdfs:comment ""; + rdfs:label "Unknown_Instruction"; + _:genid-b2c68679b5d6482884489a74810ff72b-b591 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b568 . + + a ; + rdfs:comment ""; + rdfs:label "Press_Instruction"; + _:genid-b2c68679b5d6482884489a74810ff72b-b494 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b568 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b569 . +_:genid-b2c68679b5d6482884489a74810ff72b-b509 a , + ; + ; + """PREFIX rdfs: +PREFIX rdf: +PREFIX ajan: +PREFIX mosim: -_:genid-63f1d5c8b72c490392107b96d80fbd76-b569 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b570 . +CONSTRUCT { + ?agent mosim:retrieving ?mSceneObject . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . +}""" . - - a , ; - ; - rdfs:label "Tighten_BT" . + + a ; + true; + rdfs:comment ""; + rdfs:label "Executor"; + _:genid-b2c68679b5d6482884489a74810ff72b-b685; + _:genid-b2c68679b5d6482884489a74810ff72b-b474 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b570 rdf:first ; - rdf:rest rdf:nil . +_:genid-b2c68679b5d6482884489a74810ff72b-b520 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: -_:genid-63f1d5c8b72c490392107b96d80fbd76-b571 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b572 . +SELECT ((xsd:int(?int) + 1) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . - - a ; - ; - rdfs:label "defaultIsSucceeding" . +_:genid-b2c68679b5d6482884489a74810ff72b-b521 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: -_:genid-63f1d5c8b72c490392107b96d80fbd76-b572 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b573 . +DELETE { + ?agent mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . +}""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b573 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b574 . +_:genid-b2c68679b5d6482884489a74810ff72b-b527 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: -_:genid-63f1d5c8b72c490392107b96d80fbd76-b574 rdf:first ; - rdf:rest rdf:nil . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b575 . + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Return01\" ; + mosim:startCondition ?startCondition ; + mosim:instructionID ?returnID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b575 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b576 . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"ROOT\" . + + test:TargetConstraint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b576 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b577 . + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b577 rdf:first ; - rdf:rest rdf:nil . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b578 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b579 . + ?agent rdf:type ajan:This ; + mosim:tighteningTool ?screwdriverObject . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b579 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b580 . + mosim:RandomIDs mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?screwManualID, \":end+ 0.05\") AS ?startCondition) - - rdfs:comment ""; - rdfs:label "Parallel" . + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwdriverObject ; + mosim:finalLocation ?target . + + ?target rdf:type mosim:FinalLocation ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id \"ROOT\" ; + mosim:object ?object_1 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b580 rdf:first ; - rdf:rest rdf:nil . + ?bounderies rdf:type ; + mosim:constraint ?constraint_2 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b581 . + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object_2 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b581 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b582 . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . - - a ; - rdfs:label "defaultSequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b601 . +_:genid-b2c68679b5d6482884489a74810ff72b-b528 a ; + ; + """PREFIX mosim: +PREFIX rdf: -_:genid-63f1d5c8b72c490392107b96d80fbd76-b582 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b583 . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"end\"} +}""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b583 rdf:first ; - rdf:rest rdf:nil . +_:genid-b2c68679b5d6482884489a74810ff72b-b529 a ; + ; + """PREFIX mosim: +PREFIX rdf: - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b584 . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"PositioningFinished\"} +}""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b584 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b585 . + + ; + _:genid-b2c68679b5d6482884489a74810ff72b-b490 . - - a ; - false; - rdfs:label "Positioned(Object)"; + + a ; + ; rdfs:comment ""; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b448 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b585 rdf:first ; - rdf:rest rdf:nil . - - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b586 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b586 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b587 . + rdfs:label "HandleEvent"; + _:genid-b2c68679b5d6482884489a74810ff72b-b561 . - - a ; - rdfs:label "defaultPriority"; + + a ; + ; + rdfs:label "HandleEvent"; rdfs:comment ""; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b588 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b587 rdf:first ; - rdf:rest rdf:nil . + _:genid-b2c68679b5d6482884489a74810ff72b-b447 . - - a ; - rdfs:label "Success"; - rdfs:comment "" . - - - a ; - ; - ; - true; - rdfs:label "Place(Object)"; - rdfs:comment "" . - - + a ; ; true; ; rdfs:comment ""; - rdfs:label "Retrieve(Shelf)" . + rdfs:label "Carry(Shelf)"; + _:genid-b2c68679b5d6482884489a74810ff72b-b681 . - + a ; - rdfs:label "defaultSequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b605 . + rdfs:comment ""; + rdfs:label "defaultSequence" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b588 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b589 . +_:genid-b2c68679b5d6482884489a74810ff72b-b530 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: -_:genid-63f1d5c8b72c490392107b96d80fbd76-b589 rdf:first ; - rdf:rest rdf:nil . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp04\" ; + mosim:endCondition ?endCondition ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . - - a ; - ; - ; - rdfs:label "HandScrew(Screw)"; - true; - rdfs:comment "" . + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraint\" . - - a ; - rdfs:comment ""; - rdfs:label "defaultPriority"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b590 . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b590 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b591 . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - - a ; - rdfs:label "defaultSequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b653 . + ?agent rdf:type ajan:This ; + mosim:tighteningTool ?mSceneObjectID . + + mosim:RandomIDs mosim:returnID ?returnID . + + BIND(CONCAT(?returnID, \":end\") AS ?endCondition) - - a ; - rdfs:comment ""; - rdfs:label "Sequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b633 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b591 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b592 . + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b592 rdf:first ; - rdf:rest rdf:nil . + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object . - - a ; - ; - ; - true; - rdfs:label "Carry(Object)"; - rdfs:comment "" . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . - - a ; - rdfs:comment ""; - rdfs:label "defaultSequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b621 . +_:genid-b2c68679b5d6482884489a74810ff72b-b531 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b593 . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve02\" ; + mosim:instructionID ?retrieveID ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b593 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b594 . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - - a ; - true; - rdfs:label "idle"; - rdfs:comment ""; - ; - . + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject . - - a ; - rdfs:comment ""; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b612 . + mosim:RandomIDs mosim:retrieveID ?retrieveID . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b594 rdf:first ; - rdf:rest rdf:nil . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . - - a ; - ; - ; - rdfs:label "Retrieve(Screw)"; - true; - rdfs:comment "" . +_:genid-b2c68679b5d6482884489a74810ff72b-b532 a ; + ; + """PREFIX mosim: - - a ; - rdfs:label "defaultSequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b637 . +DELETE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . +} +WHERE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . +}""" . - + a ; + rdfs:label "At(Target)"; rdfs:comment ""; - rdfs:label "NextOperation_Tightening?" . + _:genid-b2c68679b5d6482884489a74810ff72b-b429 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b595 . + + a ; + rdfs:label "At Target?"; + rdfs:comment ""; + _:genid-b2c68679b5d6482884489a74810ff72b-b462 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b595 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b596 . + + . - - a ; - ; + + . + + a , + ; + ; + rdfs:label "MOSIM_Final_BT" . + + + a ; rdfs:comment ""; - rdfs:label "RegisterListener_CycleEnd"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b470; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b426; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b500 . + rdfs:label "defaultIsSucceeding"; + . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b596 rdf:first ; - rdf:rest rdf:nil . +_:genid-b2c68679b5d6482884489a74810ff72b-b533 a ; + ; + """PREFIX mosim: - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b487 . +ASK +WHERE { + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . + + { SELECT (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?currTask . + ?currTask a mosim:Task . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } + } - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b442 . + BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?otStep) - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "walk(walkTarget)" . + BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + + FILTER(?step = ?newSStep) + FILTER(?ntStep = ?otStep) + + ?newTask a mosim:Task . + ?newTask mosim:step ?ntStep . + ?newTask mosim:operation ?newOperation . + ?newOperation mosim:step ?step . + ?newOperation mosim:type ?type . + + FILTER CONTAINS(?type,\"Tighten\") +} +""" . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b393 . + a , + ; + ; + rdfs:label "MOSIM_Initial_BT" . - - a ; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b422; - ; - rdfs:comment ""; - rdfs:label "Tighten_Goal" . + + a , ; + ; + rdfs:label "Process_Tasklist_BT" . - - a ; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b462; - ; - rdfs:comment ""; - rdfs:label "Position_Goal" . +_:genid-b2c68679b5d6482884489a74810ff72b-b534 a , + ; + ; + """SELECT ?requestURI +WHERE { + VALUES ?requestURI {\"https://teaching-taskeditor.aitoc.eu/api.php?action=getTaskList&station=127&format=AITOCJSON&token=feg5RNmKunfWODU9sfIeyMEIdLVHY8\"} +}""" . - - a ; - rdfs:comment ""; - rdfs:label "defaultSequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b615 . +_:genid-b2c68679b5d6482884489a74810ff72b-b535 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b443 . +_:genid-b2c68679b5d6482884489a74810ff72b-b536 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "Place(Screw)" . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . - - a ; - rdfs:label "defaultSequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b643 . + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraintR\" . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b501 . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . - - a ; - true; - rdfs:comment ""; - rdfs:label "defaultParallel" . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - - a ; - rdfs:comment ""; - rdfs:label "Sequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b666 . + ?agent rdf:type ajan:This ; + mosim:retrieving ?mSceneObjectID . - - a ; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b460; - ; - ; - rdfs:comment ""; - rdfs:label "GET_TaskList" . + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b456; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b432; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b416 . + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object . - - a ; - ; - true; - ; - rdfs:comment "" . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . - - a ; - ; - true; - ; + + a , ; + ; rdfs:comment ""; - rdfs:label "Retrieve(Screw)" . - - - a ; - rdfs:label "defaultSequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b647 . + rdfs:label "Position_BT" . - - a ; - ; + + a ; ; - rdfs:label "Place(Screw)"; - true; - rdfs:comment "" . + rdfs:label "GetScene"; + _:genid-b2c68679b5d6482884489a74810ff72b-b556 . - - a ; - ; - ; - true; - rdfs:label "Walk(Target)"; + + rdfs:label "LastOperation_Tightening?"; + _:genid-b2c68679b5d6482884489a74810ff72b-b486 . + +_:genid-b2c68679b5d6482884489a74810ff72b-b537 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b538 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 4) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + + + a , ; + ; + rdfs:label "Carry_BT" . + + + a , ; + ; + rdfs:label "Insert_BT" . + + + a , ; + ; + rdfs:label "Walk_BT"; rdfs:comment "" . - - a ; - false; - rdfs:comment ""; - rdfs:label "SetTask?!"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b438 . +_:genid-b2c68679b5d6482884489a74810ff72b-b539 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"initError\"} +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b540 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 1) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b541 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp04\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . + + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tighteningTool ?mSceneObjectID . + + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b542 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place03\" ; + mosim:startCondition ?startCondition ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . + + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?bound_id . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) + + ?bounderies_1 rdf:type ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object_1 . + + FILTER (?bound_id != \"GraspConstraint\") + + ?bounderies_2 rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object_2 . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b543 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp02\" ; + mosim:endCondition ?endCondition ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:mmuProperty test:StartInGrasp ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . + + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + test:StartInGrasp mosim:key \"StartInGrasp\" ; + mosim:value \"true\" . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:placeing ?mSceneObjectID . + + mosim:RandomIDs mosim:placeID ?placeID . + + BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?endCondition) + + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b544 a ; + ; + "" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b545 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +DELETE { + ?agent mosim:retrieving ?object . +} +INSERT { + ?agent mosim:inHand ?object . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:retrieving ?object . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b546 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +DELETE { + ?agent mosim:inHand ?object ; + mosim:placeing ?object . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:inHand ?object ; + mosim:placeing ?object . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b547 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + + + a ; + rdfs:comment ""; + rdfs:label "defaultSequence" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b548 a ; + ; + """PREFIX mosim: + +DELETE { + ?running mosim:nextTaskStep ?otStep . + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . +} +INSERT { + ?running mosim:runningOperation ?newOperation . + ?running mosim:runningTask ?newTask . +} +WHERE { + ?running mosim:nextTaskStep ?otStep . + ?running mosim:runningTask ?task . + ?task mosim:step ?tStep . + + ?running mosim:runningOperation ?operation . + ?operation mosim:step ?sStep . + + BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + + FILTER(?step = ?newSStep) + FILTER(?ntStep = ?otStep) + + ?newTask a mosim:Task . + ?newTask mosim:step ?ntStep . + ?newTask mosim:operation ?newOperation . + ?newOperation mosim:step ?step . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b549 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b550 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint . + + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . + + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + + + ; + ; + rdfs:label "ScrewManual(Object)"; + _:genid-b2c68679b5d6482884489a74810ff72b-b651 . + +_:genid-b2c68679b5d6482884489a74810ff72b-b551 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b552 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . + +_:genid-b2c68679b5d6482884489a74810ff72b-b553 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b554 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b555 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 4) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b556 a ; + ; + "{\"id\":\"Query Host\",\"title\":\"Query Host\",\"description\":\"\",\"nodes\":[\"All\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"host,port,cosim,type\",\"parameters\":[{\"label\":\"Host Type\",\"variable\":\"type\",\"variableBinding\":\"mosim:Scene\",\"title\":\"Host Type\",\"mode\":\"Dropdown\",\"note\":null,\"sparql\":{\"query\":\"undefined\"},\"possibleValues\":[{\"label\":\"CoSimulator\",\"dataValue\":\"mosim:CoSimulator\"},{\"label\":\"Registry\",\"dataValue\":\"mosim:Registry\"},{\"label\":\"Scene\",\"dataValue\":\"mosim:Scene\"}]}]}"; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type ?type . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}"""; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:Scene . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b557 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b558 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 1) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b559 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: + +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:inserted ?mSceneObject ; + mosim:insertedLocation ?insertLocation ; + mosim:insertedConnection ?insertConnection ; + mosim:executedTask ?task . +} +WHERE { + ?agent mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . + + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b560 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b561 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . + + + ; + ; + rdfs:label "Place(Object)"; + _:genid-b2c68679b5d6482884489a74810ff72b-b659 . + +_:genid-b2c68679b5d6482884489a74810ff72b-b562 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp02\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:mmuProperty test:StartInGrasp ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . + + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + test:StartInGrasp mosim:key \"StartInGrasp\" ; + mosim:value \"true\" . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:placeing ?mSceneObjectID . + + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b563 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve03\" ; + mosim:instructionID ?retrieveID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:retrieveID ?retrieveID . + + ?bounderies rdf:type ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b564 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Hand\" ; + mosim:actionName \"HandScrew01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:PositionConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:PositionConstraint mosim:key \"PositionConstraint\" ; + mosim:value ?insertConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject ; + mosim:insertConnection ?insertConnection . + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?insertLocation ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?insertConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b565 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 1) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b566 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 3) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b567 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b568 a ; + ; + "" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b569 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b570 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"AnimateFingers\"} +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b571 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + + + ; + ; + rdfs:label "Retrieve(Object)"; + _:genid-b2c68679b5d6482884489a74810ff72b-b664 . + +_:genid-b2c68679b5d6482884489a74810ff72b-b572 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . + + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:retrieving ?mSceneObjectID . + + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b573 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place03\" ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . + + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?bound_id . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) + + ?bounderies_1 rdf:type ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object_1 . + + FILTER (?bound_id != \"GraspConstraint\") + + ?bounderies_2 rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object_2 . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "UnregisterListener_AnimateFingers" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b574 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b575 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Hand\" ; + mosim:actionName \"HandScrew01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:PositionConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value \"Screw_bigAnnotated (1)\" . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:PositionConstraint mosim:key \"PositionConstraint\" ; + mosim:value \"Smooth blind hole\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + { SELECT ?constraint + WHERE { + ?subject rdf:type mosim:MSceneObject ; + rdfs:label \"shelf-v1 (1)\" ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"Smooth blind hole\" . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b576 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . + + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:carrying ?mSceneObjectID . + + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "UnregisterListener_ObjectPlaced" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b577 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 5) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b578 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b579 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Hand\" ; + mosim:actionName \"HandScrew01\" ; + mosim:instructionID ?handScrewID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:PositionConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:PositionConstraint mosim:key \"PositionConstraint\" ; + mosim:value ?insertConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject ; + mosim:insertConnection ?insertConnection . + + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . + + BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?insertLocation ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?insertConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + + + a ; + false; + rdfs:comment ""; + rdfs:label "DeleteBoundaries" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b580 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b581 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b582 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b583 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:finalEvent \"PositioningFinished\" ; + mosim:mmu \"Object/Carry\" ; + mosim:actionName \"Carry01\" ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value \"shelf-v1 (1)\" . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b584 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:finalEvent \"PositioningFinished\" ; + mosim:mmu \"Object/Carry\" ; + mosim:actionName \"Carry01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:carrying ?mSceneObject . + + ?bounderies rdf:type ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Delete IDs" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b585 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 1) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b586 a , + ; + ; + """PREFIX ajan: +PREFIX rdf: +PREFIX mosim: + +CONSTRUCT { + ?agent mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . +} +WHERE { + ?agent rdf:type ajan:This . + + ?running mosim:runningOperation ?operation . + + ?operation rdf:type mosim:Operation ; + mosim:part ?part ; + mosim:basePart ?basePart ; + mosim:baseMarker ?insertConnection . + + ?instance1 rdf:type mosim:Instance ; + mosim:instanceId ?part ; + mosim:type ?mSceneObject . + + ?instance2 rdf:type mosim:Instance ; + mosim:instanceId ?basePart ; + mosim:type ?insertLocation . +}""" . + + + a ; + false; + rdfs:comment ""; + rdfs:label "DeleteBoundaries" . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Create Random IDs" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b587 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b588 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b589 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"ObjectPlaced\"} +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b590 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 3) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b591 a ; + ; + """ASK WHERE {?s ?p ?o} +""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b592 a , + ; + ; + """PREFIX ajan: +PREFIX rdf: +PREFIX mosim: + +CONSTRUCT { + ?agent mosim:positioning ?mSceneObject . +} +WHERE { + ?agent rdf:type ajan:This . + + ?running mosim:runningOperation ?operation . + + ?operation rdf:type mosim:Operation ; + mosim:part ?part . + + ?instance rdf:type mosim:Instance ; + mosim:instanceId ?part ; + mosim:type ?mSceneObject . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b593 a , + ; + ; + """PREFIX rdfs: +PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +CONSTRUCT { + ?agent mosim:nextLocation ?targetID . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObject . + + ?area rdf:type mosim:Area ; + mosim:hasChild ?subject ; + mosim:hasChild ?target . + + ?target rdf:type mosim:WalkTarget ; + rdfs:label ?targetID . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b594 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b595 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place03\" ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . + + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?bound_id . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . + + ?bounderies_1 rdf:type ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object_1 . + + FILTER (?bound_id != \"GraspConstraint\") + + ?bounderies_2 rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object_2 . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b596 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +DELETE { + ?agent mosim:location ?target ; + mosim:nextLocation ?newTarget ; + mosim:carrying ?object . +} +INSERT { + ?agent mosim:location ?newTarget . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:location ?target ; + mosim:nextLocation ?newTarget; + mosim:carrying ?object . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b597 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b598 a ; + ; + """PREFIX ajan: +PREFIX rdf: +PREFIX test: +PREFIX mosim: + +INSERT { + ?agent mosim:runningTask test:Task . + ?agent mosim:runningOperation test:Operation . + test:Task mosim:step -1 . + test:Task a mosim:Task . + test:Task mosim:operation test:Operation . + + test:Operation mosim:step -1 . + test:Operation a mosim:Operation . + + ?agent mosim:hand \"Right\" . + ?agent mosim:location \"material_station_target\" . +} +WHERE { + ?agent rdf:type ajan:This . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b599 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b600 a ; + "CONSTRUCT WHERE {?s ?p ?o}"; + . - - a ; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b382; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b378; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b415; - ; - rdfs:comment ""; - rdfs:label "RegisterListener_End" . +_:genid-b2c68679b5d6482884489a74810ff72b-b601 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b379; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b513; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b489 . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . - + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint . + + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . + + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + + a ; ; - true; ; + true; + rdfs:label "Grasp(Object)"; rdfs:comment ""; - rdfs:label "Place(Shelf)" . + _:genid-b2c68679b5d6482884489a74810ff72b-b669 . - - a ; - ; - true; +_:genid-b2c68679b5d6482884489a74810ff72b-b602 a , + ; + ; + "{\"id\":\"Idle Instruction\",\"title\":\"Idle Instruction\",\"description\":\"\",\"nodes\":[\"Action\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"cosim,host,port\",\"parameters\":[]}"; + """PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:mmu \"Pose/Idle\" . + test:Instruction mosim:actionName \"Idle\" . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +} +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}"""; + """PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + test:Instruction mosim:mmu \"Pose/Idle\" . + test:Instruction mosim:actionName \"Idle\" . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b603 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b604 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b605 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: + +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:positioned ?mSceneObject ; + mosim:executedTask ?task . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . + + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) +}""" . + + + a ; ; + rdfs:label "GetBoundary(Grasp(Object))"; rdfs:comment ""; - rdfs:label "HandScrew(Screw)" . + _:genid-b2c68679b5d6482884489a74810ff72b-b541 . - - a ; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b398; - ; - rdfs:comment ""; - rdfs:label "Repeater" . +_:genid-b2c68679b5d6482884489a74810ff72b-b606 a ; + ; + """PREFIX mosim: +PREFIX rdf: - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b597 . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"cycleEnd\"} +}""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b597 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b598 . +_:genid-b2c68679b5d6482884489a74810ff72b-b607 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: - - a ; - false; - rdfs:comment ""; - rdfs:label "SetOperation?!"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b457 . +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . - - a ; - ; - true; + + a ; ; + rdfs:label "GetBoundary(Place(Object))"; rdfs:comment ""; - rdfs:label "Place(Object)" . + _:genid-b2c68679b5d6482884489a74810ff72b-b595 . - - a ; - rdfs:comment ""; - rdfs:label "Unknown_Instruction" . +_:genid-b2c68679b5d6482884489a74810ff72b-b608 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?scene rdf:type mosim:Registry . + ?scene mosim:host ?host . + ?scene mosim:port ?port . +}""" . - - a ; - rdfs:comment ""; - rdfs:label "Press_Instruction" . +_:genid-b2c68679b5d6482884489a74810ff72b-b609 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + +_:genid-b2c68679b5d6482884489a74810ff72b-b610 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: -_:genid-63f1d5c8b72c490392107b96d80fbd76-b598 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b599 . +SELECT ((xsd:int(?int) + 5) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b599 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b600 . +_:genid-b2c68679b5d6482884489a74810ff72b-b611 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . - - a ; - true; - rdfs:comment ""; - rdfs:label "Executor" . +_:genid-b2c68679b5d6482884489a74810ff72b-b612 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: -_:genid-63f1d5c8b72c490392107b96d80fbd76-b600 rdf:first ; - rdf:rest rdf:nil . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "Retrieve(Object)" . + test:Instruction mosim:mmu \"Object/Carry\" . + test:Instruction mosim:actionName \"Carry01\" . + test:Instruction mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" . + test:Object mosim:value \"shelf-v1 (1)\" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b601 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b602 . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b602 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b603 . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b603 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b604 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b634 . - - . +_:genid-b2c68679b5d6482884489a74810ff72b-b634 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b635 . - - a ; - ; - rdfs:comment ""; - rdfs:label "HandleEvent" . +_:genid-b2c68679b5d6482884489a74810ff72b-b635 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b636 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b604 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b636 rdf:first ; rdf:rest rdf:nil . - - a ; - ; - rdfs:label "HandleEvent"; - rdfs:comment "" . - - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "Carry(Shelf)" . - - - a ; - rdfs:comment ""; - rdfs:label "defaultSequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b669 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b639 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b605 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b606 . +_:genid-b2c68679b5d6482884489a74810ff72b-b639 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b640 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b606 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b607 . +_:genid-b2c68679b5d6482884489a74810ff72b-b640 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b641 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b607 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b608 . +_:genid-b2c68679b5d6482884489a74810ff72b-b641 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b642 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b608 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b609 . +_:genid-b2c68679b5d6482884489a74810ff72b-b642 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b643 . - - a ; - rdfs:label "At(Target)"; - rdfs:comment "" . +_:genid-b2c68679b5d6482884489a74810ff72b-b643 rdf:first ; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b609 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b610 . +_:genid-b2c68679b5d6482884489a74810ff72b-b650 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b421; + rdf:rest rdf:nil . - - a ; - rdfs:label "At Target?"; - rdfs:comment "" . +_:genid-b2c68679b5d6482884489a74810ff72b-b651 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b431; + rdf:rest rdf:nil . - - . + + _:genid-b2c68679b5d6482884489a74810ff72b-b652 . - - . +_:genid-b2c68679b5d6482884489a74810ff72b-b652 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b424; + rdf:rest rdf:nil . - a , - ; - ; - rdfs:label "MOSIM_Final_BT" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b653 . - - a ; - rdfs:comment ""; - rdfs:label "defaultIsSucceeding"; - . +_:genid-b2c68679b5d6482884489a74810ff72b-b653 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b481; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b610 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b611 . +_:genid-b2c68679b5d6482884489a74810ff72b-b654 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b483; + rdf:rest rdf:nil . - a , - ; - ; - rdfs:label "MOSIM_Initial_BT" . +_:genid-b2c68679b5d6482884489a74810ff72b-b655 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b579; + rdf:rest rdf:nil . - - a , ; - ; - rdfs:label "Process_Tasklist_BT" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b656 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b611 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b656 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b543; rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b612 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b657 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b584; rdf:rest rdf:nil . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b613 . +_:genid-b2c68679b5d6482884489a74810ff72b-b658 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b602; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b613 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b614 . +_:genid-b2c68679b5d6482884489a74810ff72b-b659 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b542; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b614 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b660 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b531; rdf:rest rdf:nil . - - a , ; - ; - rdfs:comment ""; - rdfs:label "Position_BT" . +_:genid-b2c68679b5d6482884489a74810ff72b-b661 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b471; + rdf:rest rdf:nil . - - a ; - ; - rdfs:label "GetScene" . +_:genid-b2c68679b5d6482884489a74810ff72b-b662 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b418; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b615 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b616 . +_:genid-b2c68679b5d6482884489a74810ff72b-b663 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b499; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b616 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b617 . +_:genid-b2c68679b5d6482884489a74810ff72b-b664 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b563; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b617 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b618 . +_:genid-b2c68679b5d6482884489a74810ff72b-b665 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b472; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b618 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b619 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b666 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b619 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b666 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b477; rdf:rest rdf:nil . - - a , ; - ; - rdfs:label "Carry_BT" . - - - a , ; - ; - rdfs:label "Insert_BT" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b667 . - - a , ; - ; - rdfs:label "Walk_BT"; - rdfs:comment "" . +_:genid-b2c68679b5d6482884489a74810ff72b-b667 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b536; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b621 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b622 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b668 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b622 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b668 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b476; rdf:rest rdf:nil . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b623 . +_:genid-b2c68679b5d6482884489a74810ff72b-b669 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b530; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b623 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b624 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b670 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b624 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b625 . +_:genid-b2c68679b5d6482884489a74810ff72b-b670 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b409; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b625 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b671 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b488; rdf:rest rdf:nil . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b626 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b672 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b626 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b627 . +_:genid-b2c68679b5d6482884489a74810ff72b-b672 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b446; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b627 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b628 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b673 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b628 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b629 . +_:genid-b2c68679b5d6482884489a74810ff72b-b673 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b408; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b629 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b630 . +_:genid-b2c68679b5d6482884489a74810ff72b-b674 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b410; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b630 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b631 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b675 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b631 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b632 . +_:genid-b2c68679b5d6482884489a74810ff72b-b675 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b459; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b632 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b676 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b501; rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b633 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b634 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b677 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b634 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b635 . +_:genid-b2c68679b5d6482884489a74810ff72b-b677 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b443; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b635 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b636 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b678 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b636 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b678 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b601; rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b637 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b638 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b679 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b638 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b639 . +_:genid-b2c68679b5d6482884489a74810ff72b-b679 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b454; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b639 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b640 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b680 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b640 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b680 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b550; rdf:rest rdf:nil . - - a ; - rdfs:label "defaultSequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b641 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b641 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b642 . +_:genid-b2c68679b5d6482884489a74810ff72b-b681 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b583; + rdf:rest rdf:nil . - - a ; - true; - rdfs:label "defaultParallel" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b682 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b642 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b682 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b573; rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b643 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b644 . - - - a ; - true . + + _:genid-b2c68679b5d6482884489a74810ff72b-b683 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b644 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b645 . +_:genid-b2c68679b5d6482884489a74810ff72b-b683 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b461; + rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b645 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b646 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b684 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b646 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b684 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b527; rdf:rest rdf:nil . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b647 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b648 . - - - a ; - true . + + _:genid-b2c68679b5d6482884489a74810ff72b-b533 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b648 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b649 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b442 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b649 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b650 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b413, + _:genid-b2c68679b5d6482884489a74810ff72b-b427 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b650 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b651 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b540, + _:genid-b2c68679b5d6482884489a74810ff72b-b565 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b651 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b652 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b566 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b652 rdf:first ; - rdf:rest rdf:nil . + + _:genid-b2c68679b5d6482884489a74810ff72b-b450 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b653 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b654 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b555 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b654 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b655 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b594, + _:genid-b2c68679b5d6482884489a74810ff72b-b537 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b655 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b656 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b610 . - - a ; - true; - rdfs:label "defaultParallel"; - rdfs:comment "" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b412 . - - a ; - rdfs:label "LastOperation_Tightening?"; - rdfs:comment "" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b558 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b656 rdf:first ; - rdf:rest rdf:nil . + + _:genid-b2c68679b5d6482884489a74810ff72b-b439 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b657 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b578 . - - a ; - true; - rdfs:label "defaultParallel" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b607 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b657 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b658 . +_:genid-b2c68679b5d6482884489a74810ff72b-b685 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b686 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b658 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b659 . +_:genid-b2c68679b5d6482884489a74810ff72b-b686 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b687 . - - a ; - ; - ; - true; - rdfs:label "ScrewManual(Object)"; - rdfs:comment "" . +_:genid-b2c68679b5d6482884489a74810ff72b-b687 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b688 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b659 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b660 . +_:genid-b2c68679b5d6482884489a74810ff72b-b688 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b689 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b660 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b661 . +_:genid-b2c68679b5d6482884489a74810ff72b-b689 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b690 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b661 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b690 rdf:first ; rdf:rest rdf:nil . - - a ; - rdfs:label "defaultSequence"; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b664 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b478 . - - a ; - ; - ; - true; - rdfs:label "Place(Object)"; - rdfs:comment "" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b612 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b662 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b564 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b662 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b663 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b576 . - - a ; - rdfs:label "NextOperation_Tightening?"; - rdfs:comment "" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b575 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b663 rdf:first ; - rdf:rest rdf:nil . + + _:genid-b2c68679b5d6482884489a74810ff72b-b480 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b664 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b665 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b572 . - - a ; - ; - true; - rdfs:label "Return(Object)"; - rdfs:comment "" . + + _:genid-b2c68679b5d6482884489a74810ff72b-b465 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b665 rdf:first ; - rdf:rest rdf:nil . + + _:genid-b2c68679b5d6482884489a74810ff72b-b562 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b666 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b667 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b608, + _:genid-b2c68679b5d6482884489a74810ff72b-b473 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b667 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b668 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b552 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b668 rdf:first ; - rdf:rest rdf:nil . + + _:genid-b2c68679b5d6482884489a74810ff72b-b437 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b669 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b670 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b500 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b670 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b671 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b600 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b671 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b672 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b691 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b672 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b673 . +_:genid-b2c68679b5d6482884489a74810ff72b-b691 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b692 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b673 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b692 rdf:first ; rdf:rest rdf:nil . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b674 . - -_:genid-63f1d5c8b72c490392107b96d80fbd76-b674 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b675 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b693 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b675 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b676 . +_:genid-b2c68679b5d6482884489a74810ff72b-b693 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b694 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b676 rdf:first ; - rdf:rest _:genid-63f1d5c8b72c490392107b96d80fbd76-b677 . +_:genid-b2c68679b5d6482884489a74810ff72b-b694 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b695 . -_:genid-63f1d5c8b72c490392107b96d80fbd76-b677 rdf:first ; +_:genid-b2c68679b5d6482884489a74810ff72b-b695 rdf:first ; rdf:rest rdf:nil . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b466; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b446; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b453 . +_:genid-b2c68679b5d6482884489a74810ff72b-b696 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b697 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b381; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b467; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b394 . +_:genid-b2c68679b5d6482884489a74810ff72b-b697 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b698 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b387; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b472; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b441 . +_:genid-b2c68679b5d6482884489a74810ff72b-b698 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b699 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b511; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b375; - _:genid-63f1d5c8b72c490392107b96d80fbd76-b421 . +_:genid-b2c68679b5d6482884489a74810ff72b-b699 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b700 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b445 . +_:genid-b2c68679b5d6482884489a74810ff72b-b700 rdf:first ; + rdf:rest rdf:nil . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b410 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b701 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b480 . +_:genid-b2c68679b5d6482884489a74810ff72b-b701 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b702 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b519 . +_:genid-b2c68679b5d6482884489a74810ff72b-b702 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b703 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b385 . +_:genid-b2c68679b5d6482884489a74810ff72b-b703 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b704 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b380 . +_:genid-b2c68679b5d6482884489a74810ff72b-b704 rdf:first ; + rdf:rest rdf:nil . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b512 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b705 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b401 . +_:genid-b2c68679b5d6482884489a74810ff72b-b705 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b706 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b482 . +_:genid-b2c68679b5d6482884489a74810ff72b-b706 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b707 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b476 . +_:genid-b2c68679b5d6482884489a74810ff72b-b707 rdf:first ; + rdf:rest rdf:nil . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b473 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b708 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b424 . +_:genid-b2c68679b5d6482884489a74810ff72b-b708 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b709 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b492 . +_:genid-b2c68679b5d6482884489a74810ff72b-b709 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b710 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b388 . +_:genid-b2c68679b5d6482884489a74810ff72b-b710 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b711 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b437 . +_:genid-b2c68679b5d6482884489a74810ff72b-b711 rdf:first ; + rdf:rest rdf:nil . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b403 . + + _:genid-b2c68679b5d6482884489a74810ff72b-b712 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b428 . +_:genid-b2c68679b5d6482884489a74810ff72b-b712 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b713 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b413 . +_:genid-b2c68679b5d6482884489a74810ff72b-b713 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b714 . - - _:genid-63f1d5c8b72c490392107b96d80fbd76-b417 . +_:genid-b2c68679b5d6482884489a74810ff72b-b714 rdf:first ; + rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b715 . From b56049b6196e0a08a11465a09294527a49f8cc78 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Andr=C3=A9=20Antakli?= Date: Thu, 4 Apr 2024 09:01:51 +0200 Subject: [PATCH 5/5] defined final aitoc review demo --- .../use-case/behaviors/behaviors.ttl | 9625 ++++++++++------- pluginsystem/plugins/ASPPlugin/pom.xml | 2 +- 2 files changed, 5513 insertions(+), 4114 deletions(-) diff --git a/executionservice/use-case/behaviors/behaviors.ttl b/executionservice/use-case/behaviors/behaviors.ttl index 5aa5f34f..fcda46bb 100644 --- a/executionservice/use-case/behaviors/behaviors.ttl +++ b/executionservice/use-case/behaviors/behaviors.ttl @@ -9,26 +9,31 @@ rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b715 rdf:first ; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b408 a ; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b409; + "1"^^xsd:int; + "1"^^xsd:int; + "2"^^xsd:int; + "clingo"; + "5"^^xsd:int . a ; false; rdfs:comment ""; - rdfs:label "DeleteBoundaries"; - _:genid-b2c68679b5d6482884489a74810ff72b-b574 . + rdfs:label "DeleteBoundaries" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b409 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b410; + rdf:rest rdf:nil . a ; false; rdfs:label "Inserted(Object)"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b521 . + rdfs:comment "" . a ; - _:genid-b2c68679b5d6482884489a74810ff72b-b716; true; rdfs:label "defaultPrioParallel"; rdfs:comment "" . @@ -37,170 +42,429 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b715 rdf:first ; false; rdfs:label "Save History"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b448 . - -_:genid-b2c68679b5d6482884489a74810ff72b-b716 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b717 . + rdfs:comment "" . a ; false; rdfs:label "Save History"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b419 . + rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b717 rdf:first ; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b410 a ; + ""; + "5" . a ; - _:genid-b2c68679b5d6482884489a74810ff72b-b718; true; rdfs:comment ""; rdfs:label "PrioParallel" . -_:genid-b2c68679b5d6482884489a74810ff72b-b718 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b719 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b411 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: -_:genid-b2c68679b5d6482884489a74810ff72b-b719 rdf:first ; - rdf:rest rdf:nil . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . - - _:genid-b2c68679b5d6482884489a74810ff72b-b720 . + test:Instruction mosim:mmu \"Object/Screw/Hand\" ; + mosim:actionName \"HandScrew01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:PositionConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . -_:genid-b2c68679b5d6482884489a74810ff72b-b720 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b721 . + test:PositionConstraint mosim:key \"PositionConstraint\" ; + mosim:value ?insertConnection . -_:genid-b2c68679b5d6482884489a74810ff72b-b721 rdf:first ; - rdf:rest rdf:nil . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject ; + mosim:insertConnection ?insertConnection . + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?insertLocation ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?insertConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b412 a ; + "application/ld+json"; + . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b413 a ; + ; + """CONSTRUCT { + ?s ?o +} +WHERE { + ?s a . + ?s ?o . +}""" . a ; - _:genid-b2c68679b5d6482884489a74810ff72b-b722; rdfs:label "defaultPriority"; rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b722 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b723 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b414 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: -_:genid-b2c68679b5d6482884489a74810ff72b-b723 rdf:first ; - rdf:rest rdf:nil . +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b415 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 5) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . a ; - _:genid-b2c68679b5d6482884489a74810ff72b-b724; rdfs:label "defaultPriority" . a ; rdfs:comment ""; - rdfs:label "defaultSequence"; - _:genid-b2c68679b5d6482884489a74810ff72b-b813 . + rdfs:label "defaultSequence" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b416 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 4) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . a ; ; rdfs:label "Place Goal"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b491 . - -_:genid-b2c68679b5d6482884489a74810ff72b-b724 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b725 . + rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b725 rdf:first ; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b417 a ; + ""; + "5" . a ; - _:genid-b2c68679b5d6482884489a74810ff72b-b726; rdfs:label "defaultPriority" . -_:genid-b2c68679b5d6482884489a74810ff72b-b726 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b727 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b418 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:finalEvent \"PositioningFinished\" ; + mosim:mmu \"Object/Carry\" ; + mosim:actionName \"Carry01\" ; + mosim:instructionID ?carryID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:carrying ?mSceneObject . + + mosim:RandomIDs mosim:carryID ?carryID . + + ?bounderies rdf:type ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . a ; ; rdfs:label "Carry Goal"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b416 . + rdfs:comment "" . a ; rdfs:label "Insert_Goal"; ; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b586 . + rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b727 rdf:first ; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b419 a , + ; + ; + "" . a ; - _:genid-b2c68679b5d6482884489a74810ff72b-b728; rdfs:label "defaultPriority"; rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b728 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b729 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b420 a , + ; + ; + """PREFIX ar: + +SELECT ?requestURI +WHERE { + ?s ar:url ?requestURI . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b421 a , + ; + ; + "{\"id\":\"Idle Instruction\",\"title\":\"Idle Instruction\",\"description\":\"\",\"nodes\":[\"Action\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"cosim,host,port\",\"parameters\":[]}"; + """PREFIX mosim: +PREFIX rdf: +PREFIX test: -_:genid-b2c68679b5d6482884489a74810ff72b-b729 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b730 . +CONSTRUCT { + test:Instruction mosim:mmu \"Pose/Idle\" . + test:Instruction mosim:actionName \"Idle\" . -_:genid-b2c68679b5d6482884489a74810ff72b-b730 rdf:first ; - rdf:rest rdf:nil . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +} +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}"""; + """PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + test:Instruction mosim:mmu \"Pose/Idle\" . + test:Instruction mosim:actionName \"Idle\" . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . a ; ; rdfs:label "Retrieve Goal"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b509 . + rdfs:comment "" . a ; ; rdfs:label "Walk Goal"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b593 . - - - _:genid-b2c68679b5d6482884489a74810ff72b-b433 . - - - _:genid-b2c68679b5d6482884489a74810ff72b-b592 . + rdfs:comment "" . a ; - rdfs:label "defaultSequence"; - _:genid-b2c68679b5d6482884489a74810ff72b-b775 . + rdfs:label "defaultSequence" . - - _:genid-b2c68679b5d6482884489a74810ff72b-b534 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b422 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . a ; - _:genid-b2c68679b5d6482884489a74810ff72b-b520; - _:genid-b2c68679b5d6482884489a74810ff72b-b495; - _:genid-b2c68679b5d6482884489a74810ff72b-b489; ; rdfs:comment ""; rdfs:label "RegisterListener_InitError" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b423 a ; + ; + . + a ; ; rdfs:comment ""; - rdfs:label "UnregisterListener_InitError"; - _:genid-b2c68679b5d6482884489a74810ff72b-b482; - _:genid-b2c68679b5d6482884489a74810ff72b-b466; - _:genid-b2c68679b5d6482884489a74810ff72b-b539 . + rdfs:label "UnregisterListener_InitError" . - - _:genid-b2c68679b5d6482884489a74810ff72b-b538; - _:genid-b2c68679b5d6482884489a74810ff72b-b498; - _:genid-b2c68679b5d6482884489a74810ff72b-b570 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b424 a ; + ; + """PREFIX mosim: + +DELETE { + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:graspID ?graspID . +} +WHERE { + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:graspID ?graspID . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b425 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve01\" ; + mosim:instructionID ?retrieveID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"CarryConstraint\" . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:retrieving ?mSceneObject . + + mosim:RandomIDs mosim:retrieveID ?retrieveID . + + ?bounderies_1 rdf:type ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id \"CarryConstraint\" ; + mosim:object ?object_1 . + + ?bounderies_2 rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object_2 . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . a ; @@ -210,28 +474,133 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b730 rdf:first a ; - rdfs:label "defaultSequence"; - _:genid-b2c68679b5d6482884489a74810ff72b-b815 . + rdfs:label "defaultSequence" . - - _:genid-b2c68679b5d6482884489a74810ff72b-b458; - _:genid-b2c68679b5d6482884489a74810ff72b-b569; - _:genid-b2c68679b5d6482884489a74810ff72b-b606 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b426 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: + +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:walkFrom ?location ; + mosim:walkTo ?targetID ; + mosim:executedTask ?task . +} +WHERE { + ?agent mosim:location ?location ; + mosim:nextLocation ?targetID . + + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) +}""" . a ; - rdfs:label "defaultSequence"; - _:genid-b2c68679b5d6482884489a74810ff72b-b808 . + rdfs:label "defaultSequence" . - - _:genid-b2c68679b5d6482884489a74810ff72b-b577; - _:genid-b2c68679b5d6482884489a74810ff72b-b597; - _:genid-b2c68679b5d6482884489a74810ff72b-b589 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b427 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: - - _:genid-b2c68679b5d6482884489a74810ff72b-b467; - _:genid-b2c68679b5d6482884489a74810ff72b-b420; - _:genid-b2c68679b5d6482884489a74810ff72b-b528 . +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b428 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Return01\" ; + mosim:startCondition ?startCondition ; + mosim:instructionID ?returnID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"ROOT\" . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?screwManualID, \":end+ 0.05\") AS ?startCondition) + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwdriverObject ; + mosim:finalLocation ?target . + + ?target rdf:type mosim:FinalLocation ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id \"ROOT\" ; + mosim:object ?object_1 . + + ?bounderies rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object_2 . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . a ; @@ -240,13 +609,22 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b730 rdf:first a ; - _:genid-b2c68679b5d6482884489a74810ff72b-b468; - _:genid-b2c68679b5d6482884489a74810ff72b-b426; - _:genid-b2c68679b5d6482884489a74810ff72b-b529; ; rdfs:comment ""; rdfs:label "RegisterListener_PositionFinished" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b429 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 1) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + a ; true; @@ -256,53 +634,130 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b730 rdf:first ; ; rdfs:comment ""; - rdfs:label "UnregisterListener_PositionFinished"; - _:genid-b2c68679b5d6482884489a74810ff72b-b444; - _:genid-b2c68679b5d6482884489a74810ff72b-b493; - _:genid-b2c68679b5d6482884489a74810ff72b-b492 . + rdfs:label "UnregisterListener_PositionFinished" . - - a ; - ; - ; - true; - rdfs:label "ScrewManual(Object)"; - rdfs:comment "" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b430 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: - - a ; - ; - rdfs:comment ""; - rdfs:label "UnregisterListener_End"; - _:genid-b2c68679b5d6482884489a74810ff72b-b502; - _:genid-b2c68679b5d6482884489a74810ff72b-b604; - _:genid-b2c68679b5d6482884489a74810ff72b-b455 . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp02\" ; + mosim:instructionID ?graspID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . - - a ; - false; - rdfs:label "NOT_InHand(Object)"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b546 . + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraintR\" . - - a ; - ; + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:carrying ?mSceneObjectID . + + mosim:RandomIDs mosim:graspID ?graspID . + + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + + + a ; + ; + ; + true; + rdfs:label "ScrewManual(Object)"; + rdfs:comment "" . + + + a ; + ; rdfs:comment ""; - rdfs:label "UnregisterListener_CycleEnd"; - _:genid-b2c68679b5d6482884489a74810ff72b-b590; - _:genid-b2c68679b5d6482884489a74810ff72b-b432; - _:genid-b2c68679b5d6482884489a74810ff72b-b441 . + rdfs:label "UnregisterListener_End" . - - _:genid-b2c68679b5d6482884489a74810ff72b-b463 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b431 a , + ; + ; + """PREFIX rdfs: +PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +CONSTRUCT { + ?agent mosim:retrieving ?mSceneObject . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . +}""" . + + + a ; + false; + rdfs:label "NOT_InHand(Object)"; + rdfs:comment "" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "UnregisterListener_CycleEnd" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b432 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . a ; false; rdfs:label "Save History"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b435 . + rdfs:comment "" . a , ; @@ -316,12 +771,19 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b730 rdf:first a ; - _:genid-b2c68679b5d6482884489a74810ff72b-b731; rdfs:label "defaultSequence"; rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b731 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b732 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b433 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . a ; @@ -329,11 +791,25 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b731 rdf:first true; rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b732 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b733 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b434 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +DELETE { + ?agent mosim:inHand ?object ; + mosim:placeing ?object . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:inHand ?object ; + mosim:placeing ?object . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b733 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b734 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b435 a ; + ; + "CONSTRUCT WHERE {?s ?o}" . a ; @@ -363,108 +839,325 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b733 rdf:first ; - rdf:rest rdf:nil . - - - _:genid-b2c68679b5d6482884489a74810ff72b-b735 . - -_:genid-b2c68679b5d6482884489a74810ff72b-b735 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b736 . - - - a ; - ; - rdfs:label "HandleEvent"; - rdfs:comment "" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b436 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: -_:genid-b2c68679b5d6482884489a74810ff72b-b736 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b737 . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . -_:genid-b2c68679b5d6482884489a74810ff72b-b737 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b738 . + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place03\" ; + mosim:startCondition ?startCondition ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . -_:genid-b2c68679b5d6482884489a74810ff72b-b738 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b739 . + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . -_:genid-b2c68679b5d6482884489a74810ff72b-b739 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b740 . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?bound_id . -_:genid-b2c68679b5d6482884489a74810ff72b-b740 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b741 . + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . -_:genid-b2c68679b5d6482884489a74810ff72b-b741 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b742 . + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . -_:genid-b2c68679b5d6482884489a74810ff72b-b742 rdf:first ; - rdf:rest rdf:nil . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - - _:genid-b2c68679b5d6482884489a74810ff72b-b743 . + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . - - a ; - true; - rdfs:label "defaultParallel" . + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) -_:genid-b2c68679b5d6482884489a74810ff72b-b743 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b744 . + ?bounderies_1 rdf:type ; + mosim:constraint ?constraint_1 . - - a ; - rdfs:label "DeleteBoundaries"; - false; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b414 . + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object_1 . + + FILTER (?bound_id != \"GraspConstraint\") + + ?bounderies_2 rdf:type ; + mosim:constraint ?constraint_2 . - - a ; - false; - rdfs:label "Save History"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b605 . + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object_2 . - - a ; - false; - rdfs:comment ""; - rdfs:label "Delete IDs"; - _:genid-b2c68679b5d6482884489a74810ff72b-b415 . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . - - a ; - ; - ; - true; - rdfs:label "Return(Object)"; + + a ; + ; + rdfs:label "HandleEvent"; rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b744 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b745 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b437 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: -_:genid-b2c68679b5d6482884489a74810ff72b-b745 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b746 . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . - - a ; - false; - rdfs:label "DeleteBoundaries"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b452 . + test:Instruction mosim:mmu \"Object/Carry\" . + test:Instruction mosim:actionName \"Carry01\" . + test:Instruction mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" . + test:Object mosim:value \"shelf-v1 (1)\" . - - a ; - true; - rdfs:comment ""; - ; - ; - rdfs:label "Retrieve(Object)" . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . -_:genid-b2c68679b5d6482884489a74810ff72b-b746 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b747 . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b747 rdf:first ; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b438 a , + ; + ; + """SELECT ?requestURI +WHERE { + a . + ?requestURI . +} +""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b439 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b440 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b441 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value \"shelf-v1 (1)\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"ROOT\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label \"shelf-v1 (1)\" ; + mosim:finalLocation ?target . + + ?target rdf:type mosim:FinalLocation ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + + + a ; + true; + rdfs:label "defaultParallel" . + + + a ; + rdfs:label "DeleteBoundaries"; + false; + rdfs:comment "" . + + + a ; + false; + rdfs:label "Save History"; + rdfs:comment "" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b442 a , + ; + ; + """PREFIX rdfs: +PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +CONSTRUCT { + ?agent mosim:placeing ?mSceneObject . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . +}""" . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Delete IDs" . + + + a ; + ; + ; + true; + rdfs:label "Return(Object)"; + rdfs:comment "" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b443 a ; + ; + """PREFIX rdfs: +PREFIX rdf: +PREFIX mosim: +PREFIX ajan: + +DELETE { + ?agent mosim:positioning ?mSceneObject . + + ?oldArea mosim:hasChild ?object . +} +INSERT { + ?newArea mosim:hasChild ?object . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . + + ?oldArea rdf:type mosim:Area; + mosim:hasChild ?object . + + ?object rdf:type mosim:MSceneObject; + rdfs:label ?mSceneObject ; + mosim:finalLocation ?final . + + ?newArea rdf:type mosim:Area; + mosim:hasChild ?final . +}""" . + + + a ; + false; + rdfs:label "DeleteBoundaries"; + rdfs:comment "" . + + + a ; + true; + rdfs:comment ""; + ; + ; + rdfs:label "Retrieve(Object)" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b444 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b445 a ; + "CONSTRUCT WHERE {?s ?p ?o}"; + . a ; @@ -478,105 +1171,155 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b747 rdf:first ; false; rdfs:label "Save History"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b559 . + rdfs:comment "" . a ; rdfs:label "InitUpdate?!"; false; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b598 . + rdfs:comment "" . a ; false; rdfs:comment ""; - rdfs:label "Tightened(Object)"; - _:genid-b2c68679b5d6482884489a74810ff72b-b460 . + rdfs:label "Tightened(Object)" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b446 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . a ; false; rdfs:label "Create Random IDs"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b451 . + rdfs:comment "" . a ; false; rdfs:label "InHand(Object)"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b545 . + rdfs:comment "" . a ; false; rdfs:label "At(Target)"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b596 . + rdfs:comment "" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b447 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . a ; false; rdfs:comment ""; - rdfs:label "Create Random IDs"; - _:genid-b2c68679b5d6482884489a74810ff72b-b487 . + rdfs:label "Create Random IDs" . - _:genid-b2c68679b5d6482884489a74810ff72b-b748; rdfs:label "Sequence" . -_:genid-b2c68679b5d6482884489a74810ff72b-b748 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b749 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b448 a ; + ; + """PREFIX ar: -_:genid-b2c68679b5d6482884489a74810ff72b-b749 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b750 . +CONSTRUCT { + ?s ?content . +} +WHERE { + ?s ar:content ?content . +}"""; + . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b449 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: -_:genid-b2c68679b5d6482884489a74810ff72b-b750 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b751 . +SELECT ((xsd:int(?int) + 4) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . a ; false; rdfs:comment ""; - rdfs:label "DeleteBoundaries"; - _:genid-b2c68679b5d6482884489a74810ff72b-b535 . + rdfs:label "DeleteBoundaries" . a ; false; rdfs:comment ""; - rdfs:label "DeleteBoundaries"; - _:genid-b2c68679b5d6482884489a74810ff72b-b587 . + rdfs:label "DeleteBoundaries" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b450 a ; + ; + """PREFIX mosim: + +INSERT { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:graspID ?graspID . +} +WHERE { + BIND(RAND() AS ?rand) + + BIND(CONCAT(\"Retrieve01_ID\", STR(?rand)) AS ?retrieveID) + BIND(CONCAT(\"Grasp01_ID\", STR(?rand)) AS ?graspID) +}""" . a ; false; rdfs:label "Delete IDs"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b532 . + rdfs:comment "" . a ; false; rdfs:comment ""; - rdfs:label "ClearRepo?!"; - _:genid-b2c68679b5d6482884489a74810ff72b-b445 . + rdfs:label "ClearRepo?!" . a ; false; rdfs:label "At(Target)"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b422 . - - - a ; - false; - rdfs:label "Save History"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b411 . + rdfs:comment "" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b451 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . + + + a ; + false; + rdfs:label "Save History"; + rdfs:comment "" . a ; @@ -586,55 +1329,150 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b750 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b752 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b452 a ; + ; + """PREFIX mosim: +PREFIX rdf: -_:genid-b2c68679b5d6482884489a74810ff72b-b752 rdf:first ; - rdf:rest rdf:nil . +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . a ; - _:genid-b2c68679b5d6482884489a74810ff72b-b753; rdfs:label "defaultSequence"; rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b753 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b754 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b453 a ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place03\" ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . + + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?bound_id . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . + + ?bounderies_1 rdf:type ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object_1 . + + FILTER (?bound_id != \"GraspConstraint\") + + ?bounderies_2 rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object_2 . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . a , ; rdfs:label "Retrieve_BT" . -_:genid-b2c68679b5d6482884489a74810ff72b-b754 rdf:first ; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b454 a ; + "application/json"; + . - - _:genid-b2c68679b5d6482884489a74810ff72b-b755 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b455 a ; + ; + """PREFIX mosim: +PREFIX rdf: -_:genid-b2c68679b5d6482884489a74810ff72b-b755 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b756 . +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b756 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b757 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b456 a ; + ; + """PREFIX mosim: -_:genid-b2c68679b5d6482884489a74810ff72b-b757 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b758 . +INSERT { + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:graspID ?graspID . +} +WHERE { + BIND(RAND() AS ?rand) -_:genid-b2c68679b5d6482884489a74810ff72b-b758 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b759 . + BIND(CONCAT(\"Place01_ID\", STR(?rand)) AS ?placeID) + BIND(CONCAT(\"Grasp3_ID\", STR(?rand)) AS ?graspID) +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b759 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b760 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b457 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . -_:genid-b2c68679b5d6482884489a74810ff72b-b760 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b761 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b458 a ; + "CONSTRUCT WHERE {?s ?p ?o}"; + . -_:genid-b2c68679b5d6482884489a74810ff72b-b761 rdf:first ; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b459 a ; + ; + "" . a ; - _:genid-b2c68679b5d6482884489a74810ff72b-b762; rdfs:label "defaultSequence" . @@ -642,58 +1480,141 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b761 rdf:first true; rdfs:label "defaultParallel" . -_:genid-b2c68679b5d6482884489a74810ff72b-b762 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b763 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b460 a ; + "1"^^xsd:int; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b461 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b461 a ; + ; + """ +PREFIX rdf: +PREFIX mosim: -_:genid-b2c68679b5d6482884489a74810ff72b-b763 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b764 . +SELECT (count(?operation) as ?intValue) +WHERE { + ?operation rdf:type mosim:Operation . + ?some mosim:runningOperation ?running . + FILTER (?operation != ?running) +}""" . a ; true; rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b764 rdf:first ; - rdf:rest rdf:nil . - a ; - _:genid-b2c68679b5d6482884489a74810ff72b-b765; rdfs:label "defaultSequence" . -_:genid-b2c68679b5d6482884489a74810ff72b-b765 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b766 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b462 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b463 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b464 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Locomotion/Walk\" ; + mosim:actionName \"Walk01\" ; + mosim:instructionID ?walkID ; + mosim:mmuProperty test:TargetProperty . + + test:TargetProperty mosim:key \"TargetID\" ; + mosim:value ?id . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . -_:genid-b2c68679b5d6482884489a74810ff72b-b766 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b767 . + ?agent mosim:nextLocation ?newTarget . -_:genid-b2c68679b5d6482884489a74810ff72b-b767 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b768 . + mosim:RandomIDs mosim:walkID ?walkID . + + ?target rdf:type mosim:MSceneObject ; + rdfs:label ?newTarget ; + mosim:id ?id . -_:genid-b2c68679b5d6482884489a74810ff72b-b768 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b769 . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . a ; true; rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b769 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b770 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b465 a ; + ; + """PREFIX ar: -_:genid-b2c68679b5d6482884489a74810ff72b-b770 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b771 . +SELECT (COUNT(?s) as ?intValue) +WHERE { + ?s ar:path ?path . + FILTER regex(?path, \"^.*(.lp)$\") + MINUS { ?s ar:path \"reasoning_result.lp\" . } +}""" . a ; - rdfs:label "defaultSequence"; - _:genid-b2c68679b5d6482884489a74810ff72b-b773 . + rdfs:label "defaultSequence" . -_:genid-b2c68679b5d6482884489a74810ff72b-b771 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b772 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b466 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: -_:genid-b2c68679b5d6482884489a74810ff72b-b772 rdf:first ; - rdf:rest rdf:nil . +DELETE { + ?agent mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b467 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +DELETE { + ?agent mosim:tightening ?object . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?object . +}""" . a ; @@ -705,131 +1626,268 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b772 rdf:first true; rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b773 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b774 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b468 a ; + ; + """PREFIX mosim: +PREFIX rdf: -_:genid-b2c68679b5d6482884489a74810ff72b-b774 rdf:first ; - rdf:rest rdf:nil . +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b775 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b776 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b469 a ; + ; + """PREFIX mosim: +PREFIX rdf: -_:genid-b2c68679b5d6482884489a74810ff72b-b776 rdf:first ; - rdf:rest rdf:nil . +SELECT ?port +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . +}""" . - - _:genid-b2c68679b5d6482884489a74810ff72b-b777 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b470 a , + ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: -_:genid-b2c68679b5d6482884489a74810ff72b-b777 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b778 . +CONSTRUCT { + ?agent mosim:tightening ?mSceneObject ; + mosim:tighteningTool ?screwdriverObject ; + mosim:tighteningConnection \"Round threaded shaft\" . +} +WHERE { + ?agent rdf:type ajan:This . -_:genid-b2c68679b5d6482884489a74810ff72b-b778 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b779 . + ?running mosim:runningOperation ?operation . -_:genid-b2c68679b5d6482884489a74810ff72b-b779 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b780 . - -_:genid-b2c68679b5d6482884489a74810ff72b-b780 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b781 . + ?operation rdf:type mosim:Operation ; + mosim:part ?part ; + mosim:tool ?screwdriverObject . + + ?instance rdf:type mosim:Instance ; + mosim:instanceId ?part ; + mosim:type ?mSceneObject . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b781 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b782 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b471 a ; + ; + """PREFIX mosim: +PREFIX rdf: -_:genid-b2c68679b5d6482884489a74810ff72b-b782 rdf:first ; - rdf:rest rdf:nil . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"PositioningFinished\"} +}""" . - - _:genid-b2c68679b5d6482884489a74810ff72b-b783 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b472 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: -_:genid-b2c68679b5d6482884489a74810ff72b-b783 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b784 . +SELECT ((xsd:int(?int) + 4) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b784 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b785 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b473 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b785 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b786 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b474 a ; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b419; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b475; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b476; + "1.1"; + . -_:genid-b2c68679b5d6482884489a74810ff72b-b786 rdf:first ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b476 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b454; rdf:rest rdf:nil . - - _:genid-b2c68679b5d6482884489a74810ff72b-b787 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b475 a ; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b477 . -_:genid-b2c68679b5d6482884489a74810ff72b-b787 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b788 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b477 a ; + ; + """PREFIX ar: +PREFIX rdf: -_:genid-b2c68679b5d6482884489a74810ff72b-b788 rdf:first ; - rdf:rest rdf:nil . +CONSTRUCT { + ar:Message_1 a ar:Message ; + ar:action ar:Action_1 ; + ar:project ar:Project_1 ; + ar:email ar:EMail_1 ; + ar:password ar:Password_1 . + + ar:Action_1 a ar:Action ; + ar:value \"listFiles\" . + ar:Project_1 a ar:Project ; + ar:value ?project . + ar:EMail_1 a ar:EMail ; + ar:value ?email . + ar:Password_1 a ar:Password ; + ar:value ?password . +} - - _:genid-b2c68679b5d6482884489a74810ff72b-b789 . +WHERE { + ?s rdf:type ar:Credentials ; + ar:project ?project ; + ar:email ?email ; + ar:password ?password . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b789 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b790 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b478 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b790 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b791 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b479 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?scene rdf:type mosim:Registry . + ?scene mosim:host ?host . + ?scene mosim:port ?port . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b791 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b792 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b480 a ; + ; + """PREFIX mosim: -_:genid-b2c68679b5d6482884489a74810ff72b-b792 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b793 . +INSERT { + mosim:RandomIDs mosim:carryID ?carryID ; + mosim:walkID ?walkID ; + mosim:graspID ?graspID . +} +WHERE { + BIND(RAND() AS ?rand) + + BIND(CONCAT(\"Carry01_ID\", STR(?rand)) AS ?carryID) + BIND(CONCAT(\"Walk01_ID\", STR(?rand)) AS ?walkID) + BIND(CONCAT(\"Grasp02_ID\", STR(?rand)) AS ?graspID) +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b793 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b794 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b481 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: -_:genid-b2c68679b5d6482884489a74810ff72b-b794 rdf:first ; - rdf:rest rdf:nil . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . - - a ; - ; - ; - true; - rdfs:label "Grasp(Object)"; - rdfs:comment "" . + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint . + + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . - - _:genid-b2c68679b5d6482884489a74810ff72b-b795 . + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . -_:genid-b2c68679b5d6482884489a74810ff72b-b795 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b796 . + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . -_:genid-b2c68679b5d6482884489a74810ff72b-b796 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b797 . + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . -_:genid-b2c68679b5d6482884489a74810ff72b-b797 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b798 . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -_:genid-b2c68679b5d6482884489a74810ff72b-b798 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b799 . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . - - a ; - ; - ; - true; - rdfs:label "Grasp(Object)"; - rdfs:comment "" . + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) -_:genid-b2c68679b5d6482884489a74810ff72b-b799 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b800 . + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } -_:genid-b2c68679b5d6482884489a74810ff72b-b800 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b801 . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -_:genid-b2c68679b5d6482884489a74810ff72b-b801 rdf:first ; - rdf:rest rdf:nil . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . - - _:genid-b2c68679b5d6482884489a74810ff72b-b802 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b482 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . -_:genid-b2c68679b5d6482884489a74810ff72b-b802 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b803 . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . - + a ; ; ; @@ -837,156 +1895,299 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b802 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b804 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b483 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: - - a ; - rdfs:label "defaultSequence"; - _:genid-b2c68679b5d6482884489a74810ff72b-b825 . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . -_:genid-b2c68679b5d6482884489a74810ff72b-b804 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b805 . + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Return01\" ; + mosim:startCondition ?startCondition ; + mosim:instructionID ?returnID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . + + test:Object mosim:key \"Object\" ; + mosim:value ?screwdriverObject . -_:genid-b2c68679b5d6482884489a74810ff72b-b805 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b806 . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"ROOT\" . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . -_:genid-b2c68679b5d6482884489a74810ff72b-b806 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b807 . + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . -_:genid-b2c68679b5d6482884489a74810ff72b-b807 rdf:first ; - rdf:rest rdf:nil . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . -_:genid-b2c68679b5d6482884489a74810ff72b-b808 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b809 . + ?agent rdf:type ajan:This ; + mosim:tighteningTool ?screwdriverObject . -_:genid-b2c68679b5d6482884489a74810ff72b-b809 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b810 . + mosim:RandomIDs mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?screwManualID, \":end+ 0.05\") AS ?startCondition) -_:genid-b2c68679b5d6482884489a74810ff72b-b810 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b811 . + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwdriverObject ; + mosim:finalLocation ?target . + + ?target rdf:type mosim:FinalLocation ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id \"ROOT\" ; + mosim:object ?object_1 . -_:genid-b2c68679b5d6482884489a74810ff72b-b811 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b812 . + ?bounderies rdf:type ; + mosim:constraint ?constraint_2 . - - a ; - ; - ; - true; - rdfs:label "Return(Object)"; - rdfs:comment "" . + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object_2 . -_:genid-b2c68679b5d6482884489a74810ff72b-b812 rdf:first ; - rdf:rest rdf:nil . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b813 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b814 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b484 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: -_:genid-b2c68679b5d6482884489a74810ff72b-b814 rdf:first ; - rdf:rest rdf:nil . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . -_:genid-b2c68679b5d6482884489a74810ff72b-b815 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b816 . + test:Instruction mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place02\" ; + mosim:startCondition ?startCondition ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?placeID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Release ; + mosim:mmuProperty test:TargetConstraint ; + mosim:mmuProperty test:GraspingPoint ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 ; + mosim:constraint ?constraint_3 . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . -_:genid-b2c68679b5d6482884489a74810ff72b-b816 rdf:first ; - rdf:rest rdf:nil . + test:Release mosim:key \"Release\" ; + mosim:value \"false\" . - - _:genid-b2c68679b5d6482884489a74810ff72b-b817 . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value ?insertConnection . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . -_:genid-b2c68679b5d6482884489a74810ff72b-b817 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b818 . + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?bound_id . -_:genid-b2c68679b5d6482884489a74810ff72b-b818 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b819 . + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . -_:genid-b2c68679b5d6482884489a74810ff72b-b819 rdf:first ; - rdf:rest rdf:nil . + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . + + ?constraint_3 rdf:type mosim:MConstraint ; + mosim:object ?object_3 . - - _:genid-b2c68679b5d6482884489a74810ff72b-b820 . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . -_:genid-b2c68679b5d6482884489a74810ff72b-b820 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b821 . + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObject ; + mosim:insertConnection ?insertConnection . -_:genid-b2c68679b5d6482884489a74810ff72b-b821 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b822 . + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . + + BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) + BIND(CONCAT(?handScrewID, \":end+ 0.01\") AS ?endCondition) -_:genid-b2c68679b5d6482884489a74810ff72b-b822 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b823 . + { SELECT ?constraint_1 + WHERE { + ?agent rdf:type ajan:This ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?insertLocation ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id ?insertConnection . + } LIMIT 1 + } + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . -_:genid-b2c68679b5d6482884489a74810ff72b-b823 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b824 . + ?bounderies rdf:type ; + mosim:constraint ?constraint_2 . -_:genid-b2c68679b5d6482884489a74810ff72b-b824 rdf:first ; - rdf:rest rdf:nil . + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id ?bound_id ; + mosim:object ?object_2 . + + FILTER (?bound_id != \"GraspConstraint\") -_:genid-b2c68679b5d6482884489a74810ff72b-b825 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b826 . + ?bounderies_2 rdf:type ; + mosim:constraint ?constraint_3 . + + ?constraint_3 rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object_3 . -_:genid-b2c68679b5d6482884489a74810ff72b-b826 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b827 . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b827 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b828 . + + a ; + ; + ; + true; + rdfs:label "Grasp(Object)"; + rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b828 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b829 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b485 a ; + ; + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: -_:genid-b2c68679b5d6482884489a74810ff72b-b829 rdf:first ; - rdf:rest rdf:nil . +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:placed ?mSceneObject ; + mosim:executedTask ?task . +} +WHERE { + ?agent mosim:placeing ?mSceneObject . - - _:genid-b2c68679b5d6482884489a74810ff72b-b438; - _:genid-b2c68679b5d6482884489a74810ff72b-b557; - _:genid-b2c68679b5d6482884489a74810ff72b-b485 . + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) +}""" . - - a ; - ; - rdfs:label "HandleEvent"; - rdfs:comment "" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b486 a ; + """PREFIX ar: +PREFIX rdf: - - _:genid-b2c68679b5d6482884489a74810ff72b-b430; - _:genid-b2c68679b5d6482884489a74810ff72b-b547; - _:genid-b2c68679b5d6482884489a74810ff72b-b425 . +CONSTRUCT WHERE { + ?s ?p ?o . +}"""; + . - - _:genid-b2c68679b5d6482884489a74810ff72b-b588 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b487 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . - - a ; + + a ; + ; ; - rdfs:comment ""; - rdfs:label "GetBoundary(Place)" . - - - _:genid-b2c68679b5d6482884489a74810ff72b-b548 . - - - _:genid-b2c68679b5d6482884489a74810ff72b-b497 . + true; + rdfs:label "Grasp(Object)"; + rdfs:comment "" . - - _:genid-b2c68679b5d6482884489a74810ff72b-b470 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b488 a ; + ; + """PREFIX mosim: - - _:genid-b2c68679b5d6482884489a74810ff72b-b449 . +DELETE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID ; + mosim:graspID ?graspID . +} +WHERE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID ; + mosim:graspID ?graspID . +}""" . - - _:genid-b2c68679b5d6482884489a74810ff72b-b551 . + + a ; + rdfs:label "defaultSequence" . - - _:genid-b2c68679b5d6482884489a74810ff72b-b453 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b489 a ; + ; + """PREFIX rdf: - - a ; - ; - rdfs:label "HandleEvent"; - rdfs:comment "" . +DELETE { + ?c rdf:type . +} +WHERE { + ?c rdf:type . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b408 a , +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b490 a , ; ; """PREFIX ajan: @@ -997,28 +2198,20 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Grasp\" ; - mosim:actionName \"Grasp04\" ; - mosim:endCondition ?endCondition ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve03\" ; + mosim:instructionID ?retrieveID ; mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:KeepClosed ; - mosim:mmuProperty test:GraspingConstraint ; + mosim:mmuProperty test:GraspingPoint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObjectID . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . + mosim:value ?screwdriverObject . - test:KeepClosed mosim:key \"KeepClosed\" ; - mosim:value \"true\" . - - test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + test:GraspingPoint mosim:key \"GraspingPoint\" ; mosim:value \"GraspConstraint\" . - ?constraint rdf:type mosim:MConstraint ; + ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; @@ -1030,92 +2223,89 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:tighteningTool ?mSceneObjectID . - - mosim:RandomIDs mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . + mosim:RandomIDs mosim:retrieveID ?retrieveID . - ?mSceneObject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObjectID ; + ?bounderies rdf:type ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraint\" ; mosim:object ?object . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b409 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b491 a ; ; - """PREFIX ajan: -PREFIX rdfs: + """PREFIX rdf: PREFIX mosim: -PREFIX rdf: -PREFIX test: +PREFIX ajan: -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Grasp\" ; - mosim:actionName \"Grasp04\" ; - mosim:endCondition ?endCondition ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:KeepClosed ; - mosim:mmuProperty test:GraspingConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObjectID . +INSERT { + ?agent mosim:history ?history . - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:KeepClosed mosim:key \"KeepClosed\" ; - mosim:value \"true\" . - - test:GraspingConstraint mosim:key \"GraspingConstraint\" ; - mosim:value \"GraspConstraint\" . + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:retrieved ?mSceneObject ; + mosim:executedTask ?task . +} +WHERE { + ?agent mosim:retrieving ?mSceneObject . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) +}""" . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b492 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . - ?agent rdf:type ajan:This ; - mosim:tighteningTool ?mSceneObjectID . - - mosim:RandomIDs mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b493 a , + ; + ; + """PREFIX ar: +SELECT ?requestURI +WHERE { + ?s ar:url ?requestURI . +}""" . - ?mSceneObject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObjectID ; - mosim:constraint ?constraint . + + a ; + ; + ; + true; + rdfs:label "Return(Object)"; + rdfs:comment "" . - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraint\" ; - mosim:object ?object . + + a ; + rdfs:comment ""; + rdfs:label "ASP_Reasoning" . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b494 a , + ; + ; + """SELECT ?requestURI +WHERE { + VALUES ?requestURI {\"https://teaching-taskeditor.aitoc.eu/api.php?action=getTaskList&station=129&format=AITOCJSON&token=feg5RNmKunfWODU9sfIeyMEIdLVHY8\"} }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b410 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b495 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -1124,165 +2314,247 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; mosim:constraint ?constraint . - test:Object mosim:key \"Object\" ; - mosim:value \"shelf-v1 (1)\" . + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label \"shelf-v1 (1)\" ; - mosim:finalLocation ?target . - ?target rdf:type mosim:FinalLocation ; - mosim:constraint ?constraint . + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } + ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b411 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b496 a ; ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: - -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:retrieved ?mSceneObject ; - mosim:executedTask ?task . -} + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port WHERE { - ?agent mosim:retrieving ?mSceneObject . - - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . - - a ; - true; - rdfs:comment ""; - rdfs:label "Parallel" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b412 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b497 a ; ; """PREFIX mosim: PREFIX rdf: PREFIX xsd: -SELECT ((xsd:int(?int) + 3) as ?port) +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { ?a rdf:type mosim:Avatar . ?a mosim:clPort ?int . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b413 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b498 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b414 a ; - ; - """DELETE { - ?s ?p ?o . -} +SELECT ?eventType WHERE { - ?s ?p ?o . - ?s a . + VALUES ?eventType {\"cycleEnd\"} }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b415 a ; - ; - """PREFIX mosim: - -DELETE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . -} -WHERE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . -}""" . + + a ; + rdfs:comment ""; + rdfs:label "ASP_Reasoning" . -_:genid-b2c68679b5d6482884489a74810ff72b-b416 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b499 a ; ; - """PREFIX rdfs: -PREFIX rdf: + """PREFIX rdf: PREFIX ajan: PREFIX mosim: -CONSTRUCT { - ?agent mosim:nextLocation ?targetID ; - mosim:carrying ?mSceneObject . -} +ASK WHERE { ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObject ; - mosim:finalLocation ?final . - - ?area rdf:type mosim:Area ; - mosim:hasChild ?final ; - mosim:hasChild ?target . - - ?target rdf:type mosim:WalkTarget ; - rdfs:label ?targetID . -}""" . + mosim:location ?target ; + mosim:nextLocation ?target . +} +""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b500 a ; + ; + """DELETE { GRAPH ?g { ?s ?p ?o }} +WHERE { GRAPH ?g { ?s ?p ?o }}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b501 a ; + ""; + "5" . -_:genid-b2c68679b5d6482884489a74810ff72b-b417 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b502 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +PREFIX xsd: + +SELECT ((xsd:int(?int) + 3) as ?port) WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b418 a , + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Grasp(Object)" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b503 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp04\" ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?graspID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . + + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} +WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tighteningTool ?mSceneObjectID . + + mosim:RandomIDs mosim:returnID ?returnID ; + mosim:retrieveID ?retrieveID ; + mosim:graspID ?graspID . + + BIND(CONCAT(?returnID, \":ObjectPlaced\") AS ?endCondition) + + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + + + a ; + ; + rdfs:label "HandleEvent"; + rdfs:comment "" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "GetBoundary(Place)" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b504 a ; + ; + """ASK WHERE {?s ?p ?o} +""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b505 a , ; ; """PREFIX ajan: @@ -1366,49 +2638,13 @@ WHERE { mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b419 a ; - ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: - -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:walkFrom ?targetID ; - mosim:walkTo ?location ; - mosim:carried ?mSceneObject ; - mosim:executedTask ?task . -} -WHERE { - ?agent mosim:nextLocation ?targetID ; - mosim:location ?location ; - mosim:carrying ?mSceneObject . - - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b420 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . + + a ; + ; + rdfs:label "HandleEvent"; + rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b421 a , +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b506 a , ; ; """PREFIX ajan: @@ -1419,30 +2655,14 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place01\" ; - mosim:instructionID ?placeID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:mmuProperty test:GraspingPoint ; - mosim:constraint ?constraint_1 ; - mosim:constraint ?constraint_2 . + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve02\" ; + mosim:instructionID ?retrieveID ; + mosim:mmuProperty test:Object . test:Object mosim:key \"Object\" ; mosim:value ?mSceneObject . - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . - - test:GraspingPoint mosim:key \"GraspingPoint\" ; - mosim:value \"GraspConstraintR\" . - - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:object ?object_2 . - ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . @@ -1451,138 +2671,126 @@ WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - mosim:RandomIDs mosim:placeID ?placeID . - ?agent rdf:type ajan:This ; - mosim:placeing ?mSceneObject . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObject ; - mosim:finalLocation ?target . - - ?target rdf:type mosim:FinalLocation ; - mosim:constraint ?constraint_1 . - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:id \"ROOT\" ; - mosim:object ?object_1 . + mosim:inserting ?mSceneObject . - ?bounderies rdf:type ; - mosim:constraint ?constraint_2 . - - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraintR\" ; - mosim:object ?object_2 . + mosim:RandomIDs mosim:retrieveID ?retrieveID . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b422 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: - -DELETE { - ?agent mosim:location ?target ; - mosim:nextLocation ?newTarget . -} -INSERT { - ?agent mosim:location ?newTarget . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?newTarget . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b423 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b507 a ; ; """PREFIX mosim: PREFIX rdf: PREFIX xsd: -SELECT ((xsd:int(?int) + 2) as ?port) +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { ?a rdf:type mosim:Avatar . ?a mosim:clPort ?int . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b424 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b508 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Locomotion/Walk\" ; - mosim:actionName \"Walk01\" ; - mosim:mmuProperty test:TargetProperty . - - test:TargetProperty mosim:key \"TargetID\" ; - mosim:value ?id . + """PREFIX mosim: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +ASK WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent mosim:nextLocation ?newTarget . + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . + + { SELECT (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?currTask . + ?currTask a mosim:Task . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } + } - ?target rdf:type mosim:MSceneObject ; - rdfs:label ?newTarget ; - mosim:id ?id . + BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?otStep) - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . + BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + + FILTER(?step = ?newSStep) + FILTER(?ntStep = ?otStep) + + ?newTask a mosim:Task . + ?newTask mosim:step ?ntStep . + ?newTask mosim:operation ?newOperation . + ?newOperation mosim:step ?step . + ?newOperation mosim:type ?type . + + FILTER CONTAINS(?type,\"Tighten\") +} +""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b425 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b509 a ; ; - """PREFIX mosim: -PREFIX rdf: + """PREFIX rdf: -SELECT ?eventType +DELETE { + ?b rdf:type . +} WHERE { - VALUES ?eventType {\"ObjectPlaced\"} + ?b rdf:type . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b426 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b510 a ; ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId + """PREFIX rdf: + +DELETE { + ?a rdf:type . +} WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?a rdf:type . +} +""" . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . + + a ; + true; + rdfs:comment ""; + rdfs:label "Parallel" . -_:genid-b2c68679b5d6482884489a74810ff72b-b427 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b511 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?port +SELECT ?eventType WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . + VALUES ?eventType {\"initError\"} +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b512 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +DELETE { + ?agent mosim:location ?target ; + mosim:nextLocation ?newTarget ; + mosim:carrying ?object . +} +INSERT { + ?agent mosim:location ?newTarget . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:location ?target ; + mosim:nextLocation ?newTarget; + mosim:carrying ?object . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b428 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b513 a ; ; """PREFIX mosim: PREFIX rdf: @@ -1593,35 +2801,19 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b429 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b514 a ; ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: - -ASK + """DELETE { + ?s ?p ?o +} WHERE { - ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?target . + ?s ?p ?o } """ . -_:genid-b2c68679b5d6482884489a74810ff72b-b430 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 5) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b431 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b515 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -1630,107 +2822,52 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; - mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; - mosim:constraint ?constraint . + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Locomotion/Walk\" ; + mosim:actionName \"Walk00\" ; + mosim:mmuProperty test:TargetProperty . - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . - - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; - mosim:value ?screwdriverObject . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + test:TargetProperty mosim:key \"TargetID\" ; + mosim:value ?id . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { + ?agent mosim:nextLocation ?targetID . + ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) - - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . - } LIMIT 1 - } - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + ?target rdf:type mosim:MSceneObject ; + rdfs:label ?targetID ; + mosim:id ?id . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b432 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b516 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"end\"} }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b433 a , +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b517 a , ; ; - """PREFIX rdf: + """PREFIX ajan: +PREFIX rdf: PREFIX mosim: -PREFIX ajan: CONSTRUCT { - ?agent mosim:tightening ?mSceneObject ; - mosim:tighteningTool ?screwdriverObject ; - mosim:tighteningConnection \"Round threaded shaft\" . + ?agent mosim:positioning ?mSceneObject . } WHERE { ?agent rdf:type ajan:This . @@ -1738,189 +2875,198 @@ WHERE { ?running mosim:runningOperation ?operation . ?operation rdf:type mosim:Operation ; - mosim:part ?part ; - mosim:tool ?screwdriverObject . + mosim:part ?part . ?instance rdf:type mosim:Instance ; mosim:instanceId ?part ; mosim:type ?mSceneObject . }""" . - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "Grasp(Object)" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b434 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b518 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: -PREFIX xsd: +PREFIX test: -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp04\" ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?graspID ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . -_:genid-b2c68679b5d6482884489a74810ff72b-b435 a ; - ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraint\" . -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:placed ?mSceneObject ; - mosim:executedTask ?task . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { - ?agent mosim:placeing ?mSceneObject . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) + ?agent rdf:type ajan:This ; + mosim:tighteningTool ?mSceneObjectID . + + mosim:RandomIDs mosim:screwManualID ?screwManualID ; + mosim:retrieveID ?retrieveID ; + mosim:graspID ?graspID . + + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) + + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b436 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b519 a ; ; """PREFIX mosim: PREFIX rdf: - -SELECT ?port +SELECT ?host ?port WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . - - a ; - ; - ; - true; - rdfs:label "Walk(Assembly)"; - rdfs:comment "" . - - - a ; - rdfs:label "defaultSequence" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b437 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b520 a ; + "1"^^xsd:int; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b521 . -_:genid-b2c68679b5d6482884489a74810ff72b-b438 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b521 a ; ; - """PREFIX mosim: + """ PREFIX rdf: -PREFIX xsd: +PREFIX mosim: -SELECT ((xsd:int(?int) + 4) as ?port) +SELECT ?intValue WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?operation rdf:type mosim:Operation . + ?operation mosim:type ?type . + BIND ( + IF ( CONTAINS(?type,\"Position\"), 1, + IF ( CONTAINS(?type,\"Insert\"), 2, + IF ( CONTAINS(?type,\"Press\"), 3, + IF ( CONTAINS(?type,\"Tighten\"), 4, + IF ( CONTAINS(?type,\"Check\"), 5, + 0 ))))) as ?intValue) + { SELECT ?operation + WHERE { + ?running mosim:runningOperation ?operation . + }} }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b439 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b522 a ; ; """PREFIX mosim: PREFIX rdf: PREFIX xsd: -SELECT ((xsd:int(?int) + 4) as ?port) +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { ?a rdf:type mosim:Avatar . ?a mosim:clPort ?int . }""" . - - a ; - rdfs:comment ""; - rdfs:label "defaultSequence" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b440 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b523 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value \"shelf-v1 (1)\" . + + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"CarryConstraint\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?bounderies rdf:type ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b441 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b524 a ; ; """PREFIX mosim: PREFIX rdf: - -SELECT ?eventType +SELECT ?host ?port WHERE { - VALUES ?eventType {\"cycleEnd\"} + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "Grasp(Object)" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b442 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b525 a ; ; """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: -ASK +SELECT ((xsd:int(?int) + 5) as ?port) WHERE { - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . - ?task mosim:step ?tStep . - ?operation mosim:step ?sStep . - - { SELECT (COUNT(?someStep)-1 as ?stepCount) - WHERE { - ?running mosim:runningTask ?currTask . - ?currTask a mosim:Task . - ?currTask mosim:operation ?nextOperation . - ?nextOperation mosim:step ?someStep . - } - } - - BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?otStep) - - BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) - - FILTER(?step = ?newSStep) - FILTER(?ntStep = ?otStep) - - ?newTask a mosim:Task . - ?newTask mosim:step ?ntStep . - ?newTask mosim:operation ?newOperation . - ?newOperation mosim:step ?step . - ?newOperation mosim:type ?type . - - FILTER CONTAINS(?type,\"Tighten\") -} -""" . - - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "Grasp(Object)" . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b443 a , +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b526 a , ; ; """PREFIX ajan: @@ -1934,7 +3080,6 @@ CONSTRUCT { test:Instruction mosim:mmu \"Object/Place\" ; mosim:actionName \"Place03\" ; - mosim:startCondition ?startCondition ; mosim:endCondition ?endCondition ; mosim:instructionID ?placeID ; mosim:mmuProperty test:Object ; @@ -1974,11 +3119,9 @@ WHERE { mosim:tightening ?screwObject ; mosim:tighteningTool ?screwdriverObject . - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; + mosim:RandomIDs mosim:placeID ?placeID ; mosim:screwManualID ?screwManualID . - BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) ?bounderies_1 rdf:type ; @@ -2010,117 +3153,175 @@ WHERE { mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b444 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b527 a ; + ; + . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b528 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 2) as ?port) +SELECT ?host ?port WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . - - a ; - rdfs:comment ""; - rdfs:label "CreateEndServer" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b445 a ; - ; - """DELETE { GRAPH ?g { ?s ?p ?o }} -WHERE { GRAPH ?g { ?s ?p ?o }}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b446 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b529 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Return01\" ; - mosim:startCondition ?startCondition ; - mosim:instructionID ?returnID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:mmuProperty test:GraspingPoint ; - mosim:constraint ?constraint_1 ; - mosim:constraint ?constraint_2 . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . - - test:TargetConstraint mosim:key \"GraspingPoint\" ; - mosim:value \"GraspConstraint\" . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"cycleEnd\"} +}""" . - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . - - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:object ?object_2 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b530 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +DELETE { + ?agent mosim:location ?target ; + mosim:nextLocation ?newTarget . +} +INSERT { + ?agent mosim:location ?newTarget . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - ?agent rdf:type ajan:This ; - mosim:tighteningTool ?screwdriverObject . + mosim:location ?target ; + mosim:nextLocation ?newTarget . +}""" . - mosim:RandomIDs mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?screwManualID, \":end+ 0.05\") AS ?startCondition) +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b531 a ; + ; + """PREFIX mosim: - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwdriverObject ; - mosim:finalLocation ?target . - - ?target rdf:type mosim:FinalLocation ; - mosim:constraint ?constraint_1 . +INSERT { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID ; + mosim:graspID ?graspID . +} +WHERE { + BIND(RAND() AS ?rand) - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:id \"ROOT\" ; - mosim:object ?object_1 . + BIND(CONCAT(\"Retrieve02_ID\", STR(?rand)) AS ?retrieveID) + BIND(CONCAT(\"Place02_ID\", STR(?rand)) AS ?placeID) + BIND(CONCAT(\"HandScrew01_ID\", STR(?rand)) AS ?handScrewID) + BIND(CONCAT(\"Grasp04_ID\", STR(?rand)) AS ?graspID) +}""" . - ?bounderies rdf:type ; - mosim:constraint ?constraint_2 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b532 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraint\" ; - mosim:object ?object_2 . - - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +SELECT ((xsd:int(?int) + 2) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b447 a ; - "CONSTRUCT WHERE {?s ?p ?o}"; + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Grasp(Object)" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b533 a ; + ; + "ASK WHERE { ?s ?o }" . + + + a , ; + ; + rdfs:comment ""; + rdfs:label "OperationReasoner_Read_BT" . + + + a , ; + ; + rdfs:label "OperationReasoner_Write_BT" . + + + a ; + ; + ; + true; + rdfs:label "Walk(Assembly)"; + rdfs:comment "" . + + + a ; + rdfs:label "defaultSequence" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b534 a ; + ; + """CONSTRUCT { + ?uri ?p ?o . +} +WHERE { + BIND (IRI(CONCAT(\"http://www.ajan.de/asp_input\",STR(NOW()))) AS ?uri) + ?p ?o . +} +"""; . -_:genid-b2c68679b5d6482884489a74810ff72b-b448 a ; + + a ; + rdfs:comment ""; + rdfs:label "Check Event" . + + + a ; + rdfs:comment ""; + rdfs:label "defaultSequence" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b535 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . + + + a ; + rdfs:comment ""; + rdfs:label "Check_ASPFiles" . + + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Grasp(Object)" . + + + a ; + rdfs:comment ""; + rdfs:label "Check Event" . + + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Grasp(Object)" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b536 a ; ; """PREFIX rdf: PREFIX mosim: @@ -2131,13 +3332,15 @@ INSERT { ?history rdf:type mosim:HistoryPoint ; mosim:date ?date ; - mosim:walkFrom ?location ; - mosim:walkTo ?targetID ; + mosim:walkFrom ?targetID ; + mosim:walkTo ?location ; + mosim:carried ?mSceneObject ; mosim:executedTask ?task . } WHERE { - ?agent mosim:location ?location ; - mosim:nextLocation ?targetID . + ?agent mosim:nextLocation ?targetID ; + mosim:location ?location ; + mosim:carrying ?mSceneObject . ?running mosim:runningTask ?task . @@ -2146,84 +3349,66 @@ WHERE { BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b449 a ; - ; - """PREFIX mosim: + + a ; + rdfs:comment ""; + rdfs:label "Check Event" . -DELETE { - mosim:RandomIDs mosim:placeID ?placeID . -} -WHERE { - mosim:RandomIDs mosim:placeID ?placeID . -}""" . + + a ; + rdfs:comment ""; + rdfs:label "CreateEndServer" . - - a ; - ; - true; - ; + + a ; rdfs:comment ""; - rdfs:label "Retrieve(object)" . + rdfs:label "Check Event" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b537 a ; + "1"^^xsd:int; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b465 . -_:genid-b2c68679b5d6482884489a74810ff72b-b450 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b538 a ; ; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 5) as ?port) +SELECT ?eventType WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + VALUES ?eventType {\"AnimateFingers\"} }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b451 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b539 a ; ; """PREFIX mosim: +PREFIX rdf: -INSERT { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . -} -WHERE { - BIND(RAND() AS ?rand) - - BIND(CONCAT(\"Retrieve02_ID\", STR(?rand)) AS ?retrieveID) - BIND(CONCAT(\"Place02_ID\", STR(?rand)) AS ?placeID) - BIND(CONCAT(\"HandScrew01_ID\", STR(?rand)) AS ?handScrewID) -}""" . - - - a ; - rdfs:comment ""; - rdfs:label "CreateInitErrorServer" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b452 a ; - ; - """DELETE { - ?s ?p ?o . -} +SELECT ?eventType WHERE { - ?s ?p ?o . - ?s a . + VALUES ?eventType {\"end\"} }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b453 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b540 a ; ; - """PREFIX mosim: + """PREFIX rdf: -INSERT { - mosim:RandomIDs mosim:placeID ?placeID . +DELETE { + ?d rdf:type . } WHERE { - BIND(RAND() AS ?rand) - - BIND(CONCAT(\"Place01_ID\", STR(?rand)) AS ?placeID) + ?d rdf:type . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b454 a , - ; + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Retrieve(object)" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b541 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -2233,28 +3418,31 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve01\" ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp04\" ; + mosim:startCondition ?startCondition ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?graspID ; mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:mmuProperty test:GraspingPoint ; - mosim:constraint ?constraint_1 ; - mosim:constraint ?constraint_2 . + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; + mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"CarryConstraint\" . + mosim:value ?mSceneObjectID . - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . - test:GraspingPoint mosim:key \"GraspingPoint\" ; - mosim:value \"GraspConstraintR\" . + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:object ?object_2 . + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraint\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -2265,53 +3453,96 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:retrieving ?mSceneObject . + mosim:tighteningTool ?mSceneObjectID . + + mosim:RandomIDs mosim:screwManualID ?screwManualID ; + mosim:retrieveID ?retrieveID ; + mosim:graspID ?graspID . + + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) + BIND(CONCAT(?retrieveID, \":AnimateFingers\") AS ?startCondition) - ?bounderies_1 rdf:type ; - mosim:constraint ?constraint_1 . + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:id \"CarryConstraint\" ; - mosim:object ?object_1 . - - ?bounderies_2 rdf:type ; - mosim:constraint ?constraint_2 . - - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraintR\" ; - mosim:object ?object_2 . + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object . ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . }""" . - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "Place(Object)" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b542 a ; + ; + """PREFIX mosim: - +DELETE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:graspID ?graspID . +} +WHERE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:graspID ?graspID . +}""" . + + a ; rdfs:comment ""; - rdfs:label "CreateObjectPlacedServer" . + rdfs:label "CreateInitErrorServer" . -_:genid-b2c68679b5d6482884489a74810ff72b-b455 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b543 a ; ; """PREFIX mosim: PREFIX rdf: +PREFIX xsd: -SELECT ?eventType +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { - VALUES ?eventType {\"end\"} + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . - - a ; - rdfs:comment ""; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b544 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 5) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b545 a ; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b546; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b547; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b548; + "1.1"; + . + + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Place(Object)" . + + + a ; + rdfs:comment ""; + rdfs:label "CreateObjectPlacedServer" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b548 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b549; + rdf:rest rdf:nil . + + + a ; + rdfs:comment ""; rdfs:label "CreateAnimateFingersServer" . @@ -2322,15 +3553,18 @@ WHERE { rdfs:comment ""; rdfs:label "ScrewManual(Object)" . -_:genid-b2c68679b5d6482884489a74810ff72b-b456 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b550 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +SELECT ?host ?port ?avatarId WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . @@ -2343,15 +3577,18 @@ WHERE { rdfs:comment ""; rdfs:label "DeleteObjectPlacedServer" . -_:genid-b2c68679b5d6482884489a74810ff72b-b457 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b551 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +SELECT ?host ?port ?avatarId WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . @@ -2364,16 +3601,14 @@ WHERE { rdfs:comment ""; rdfs:label "CreatePositionServer" . -_:genid-b2c68679b5d6482884489a74810ff72b-b458 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b552 a ; ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 3) as ?port) + """DELETE { + ?s ?p ?o . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + ?s ?p ?o . + ?s a . }""" . @@ -2381,91 +3616,18 @@ WHERE { rdfs:comment ""; rdfs:label "DeleteCycleEndServer" . -_:genid-b2c68679b5d6482884489a74810ff72b-b459 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b553 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place03\" ; - mosim:endCondition ?endCondition ; - mosim:instructionID ?placeID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Release ; - mosim:mmuProperty test:TargetConstraint ; - mosim:mmuProperty test:GraspingPoint ; - mosim:constraint ?constraint_1 ; - mosim:constraint ?constraint_2 . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - test:Release mosim:key \"Release\" ; - mosim:value \"false\" . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?bound_id . - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . - - test:GraspingPoint mosim:key \"GraspingPoint\" ; - mosim:value \"GraspConstraint\" . - - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:object ?object_2 . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ?host ?port ?avatarId WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) - - ?bounderies_1 rdf:type ; - mosim:constraint ?constraint_1 . - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object_1 . - - FILTER (?bound_id != \"GraspConstraint\") - - ?bounderies_2 rdf:type ; - mosim:constraint ?constraint_2 . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraint\" ; - mosim:object ?object_2 . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . @@ -2473,18 +3635,16 @@ WHERE { rdfs:comment ""; rdfs:label "DeleteInitServer" . -_:genid-b2c68679b5d6482884489a74810ff72b-b460 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b554 a ; ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: -DELETE { - ?agent mosim:tightening ?object . -} +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?object . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . @@ -2497,8 +3657,8 @@ WHERE { rdfs:comment ""; rdfs:label "DeletePositionServer" . -_:genid-b2c68679b5d6482884489a74810ff72b-b461 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b555 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -2509,27 +3669,23 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; + test:Instruction mosim:mmu \"Object/Screw/Hand\" ; + mosim:actionName \"HandScrew01\" ; + mosim:instructionID ?handScrewID ; mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Object ; mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; + mosim:mmuProperty test:PositionConstraint ; mosim:constraint ?constraint . - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . - - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; - mosim:value ?screwdriverObject . + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . test:Handedness mosim:key \"Handedness\" ; mosim:value \"right\" . - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . + test:PositionConstraint mosim:key \"PositionConstraint\" ; + mosim:value ?insertConnection . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . @@ -2543,27 +3699,27 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; - mosim:tighteningTool ?screwdriverObject . + mosim:inserting ?mSceneObject ; + mosim:insertConnection ?insertConnection . - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:handScrewID ?handScrewID . BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) { SELECT ?constraint WHERE { ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; + rdfs:label ?insertLocation ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . + mosim:id ?insertConnection . } LIMIT 1 } @@ -2583,23 +3739,12 @@ WHERE { mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b462 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: - -ASK -WHERE { - ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?target . -} -""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b463 a ; - "1"^^xsd:int; - _:genid-b2c68679b5d6482884489a74810ff72b-b464 . + + a ; + ; + ; + rdfs:comment ""; + rdfs:label "ARwrite_Event" . a ; @@ -2613,18 +3758,12 @@ _:genid-b2c68679b5d6482884489a74810ff72b-b463 a ; - ; - """ -PREFIX rdf: -PREFIX mosim: - -SELECT (count(?operation) as ?intValue) -WHERE { - ?operation rdf:type mosim:Operation . - ?some mosim:runningOperation ?running . - FILTER (?operation != ?running) -}""" . + + a ; + ; + ; + rdfs:comment ""; + rdfs:label "AnnotationE_Event" . a ; @@ -2661,7 +3800,8 @@ WHERE { rdfs:comment ""; rdfs:label "GetBoundary(Grasp(Object))" . -_:genid-b2c68679b5d6482884489a74810ff72b-b465 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b556 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -2672,7 +3812,9 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; mosim:mmu \"Object/Grasp\" ; - mosim:actionName \"Grasp03\" ; + mosim:actionName \"Grasp01\" ; + mosim:instructionID ?graspID ; + mosim:startCondition ?startCondition ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Handedness ; mosim:mmuProperty test:KeepClosed ; @@ -2689,7 +3831,7 @@ CONSTRUCT { mosim:value \"true\" . test:GraspingConstraint mosim:key \"GraspingConstraint\" ; - mosim:value \"GraspConstraint\" . + mosim:value \"GraspConstraintR\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . @@ -2703,14 +3845,19 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObjectID . + mosim:retrieving ?mSceneObjectID . + + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:graspID ?graspID . + + BIND(CONCAT(?retrieveID, \":AnimateFingers\") AS ?startCondition) ?mSceneObject rdf:type mosim:MSceneObject ; rdfs:label ?mSceneObjectID ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraint\" ; + mosim:id \"GraspConstraintR\" ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator . @@ -2718,53 +3865,30 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b466 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . + + a ; + ; + ; + rdfs:comment ""; + rdfs:label "OperationE_Event" . a ; ; rdfs:label "defaultIsSucceeding" . -_:genid-b2c68679b5d6482884489a74810ff72b-b467 a ; - ; - """PREFIX mosim: -PREFIX rdf: + + a ; + ; + rdfs:comment ""; + rdfs:label "defaultIsSucceeding" . -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . - - - a ; - ; + + a ; + ; + ; rdfs:comment ""; - rdfs:label "defaultIsSucceeding" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b468 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + rdfs:label "KnowledgeE_Event" . a ; @@ -2786,83 +3910,107 @@ WHERE { ; rdfs:label "Tighten_BT" . -_:genid-b2c68679b5d6482884489a74810ff72b-b469 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - a ; ; rdfs:label "defaultIsSucceeding" . -_:genid-b2c68679b5d6482884489a74810ff72b-b470 a ; - ; - """PREFIX mosim: + + a ; + ; + ; + rdfs:comment ""; + rdfs:label "ARread_Event" . -INSERT { - ?running mosim:nextTaskStep ?newTStep . -} -WHERE { - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . - ?task mosim:step ?tStep . - ?operation mosim:step ?sStep . - - { SELECT (COUNT(?someStep)-1 as ?stepCount) - WHERE { - ?running mosim:runningTask ?currTask . - ?currTask a mosim:Task . - ?currTask mosim:operation ?nextOperation . - ?nextOperation mosim:step ?someStep . - } - } + + a ; + ; + rdfs:label "defaultIsSucceeding" . - BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?newTStep) -}""" . + + a ; + ; + rdfs:comment ""; + rdfs:label "defaultIsSucceeding" . -_:genid-b2c68679b5d6482884489a74810ff72b-b471 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: + + a ; + . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Locomotion/Walk\" ; - mosim:actionName \"Walk01\" ; - mosim:mmuProperty test:TargetProperty . - - test:TargetProperty mosim:key \"TargetID\" ; - mosim:value ?id . + + rdfs:comment ""; + rdfs:label "Parallel"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b725 . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + + rdfs:comment ""; + rdfs:label "defaultIsSucceeding" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "defaultIsSucceeding" . + + + a ; + rdfs:label "defaultSequence" . + + + a ; + ; + rdfs:label "defaultIsSucceeding" . + + + a ; + ; + ; + ; + ; + rdfs:comment ""; + rdfs:label "ListFiles_AR"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b474; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b605 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b557 a ; + ; + """PREFIX mosim: + +INSERT { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:returnID ?returnID ; + mosim:screwManualID ?screwManualID ; + mosim:graspID ?graspID . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . + BIND(RAND() AS ?rand) + + BIND(CONCAT(\"Retrieve03_ID\", STR(?rand)) AS ?retrieveID) + BIND(CONCAT(\"Place03_ID\", STR(?rand)) AS ?placeID) + BIND(CONCAT(\"Return01_ID\", STR(?rand)) AS ?returnID) + BIND(CONCAT(\"ScrewManual01_ID\", STR(?rand)) AS ?screwManualID) + BIND(CONCAT(\"Grasp04_ID\", STR(?rand)) AS ?graspID) +}""" . - ?target rdf:type mosim:MSceneObject ; - rdfs:label \"WalkTarget\" ; - mosim:id ?id . + + a ; + false; + rdfs:label "Positioned(Object)"; + rdfs:comment "" . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . + + a ; + ; + ; + ; + ; + rdfs:comment ""; + rdfs:label "Save_Result"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b545; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b493 . -_:genid-b2c68679b5d6482884489a74810ff72b-b472 a , +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b558 a , ; ; """PREFIX ajan: @@ -2875,7 +4023,7 @@ CONSTRUCT { test:Instruction mosim:avatarID ?avatarId . test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place02\" ; + mosim:actionName \"Place03\" ; mosim:startCondition ?startCondition ; mosim:endCondition ?endCondition ; mosim:instructionID ?placeID ; @@ -2883,34 +4031,26 @@ CONSTRUCT { mosim:mmuProperty test:Release ; mosim:mmuProperty test:TargetConstraint ; mosim:mmuProperty test:GraspingPoint ; - mosim:mmuProperty test:ReferenceConstraint ; mosim:constraint ?constraint_1 ; - mosim:constraint ?constraint_2 ; - mosim:constraint ?constraint_3 . + mosim:constraint ?constraint_2 . test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + mosim:value ?screwdriverObject . test:Release mosim:key \"Release\" ; mosim:value \"false\" . test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?insertConnection . - - test:GraspingPoint mosim:key \"GraspingPoint\" ; - mosim:value \"GraspConstraint\" . - - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?bound_id . + mosim:value ?bound_id . ?constraint_1 rdf:type mosim:MConstraint ; mosim:object ?object_1 . + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . + ?constraint_2 rdf:type mosim:MConstraint ; mosim:object ?object_2 . - - ?constraint_3 rdf:type mosim:MConstraint ; - mosim:object ?object_3 . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -2921,49 +4061,31 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertConnection ?insertConnection . + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . mosim:RandomIDs mosim:retrieveID ?retrieveID ; mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . + mosim:screwManualID ?screwManualID . BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) - BIND(CONCAT(?handScrewID, \":end+ 0.01\") AS ?endCondition) - - { SELECT ?constraint_1 - WHERE { - ?agent rdf:type ajan:This ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?insertLocation ; - mosim:constraint ?constraint_1 . - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:id ?insertConnection . - } LIMIT 1 - } - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . + BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) - ?bounderies rdf:type ; - mosim:constraint ?constraint_2 . + ?bounderies_1 rdf:type ; + mosim:constraint ?constraint_1 . - ?constraint_2 rdf:type mosim:MConstraint ; + ?constraint_1 rdf:type mosim:MConstraint ; mosim:id ?bound_id ; - mosim:object ?object_2 . - + mosim:object ?object_1 . + FILTER (?bound_id != \"GraspConstraint\") - - ?bounderies_2 rdf:type ; - mosim:constraint ?constraint_3 . - ?constraint_3 rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraint\" ; - mosim:object ?object_3 . + ?bounderies_2 rdf:type ; + mosim:constraint ?constraint_2 . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraint\" ; + mosim:object ?object_2 . { SELECT ?cosim WHERE { @@ -2978,81 +4100,249 @@ WHERE { mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b473 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?scene rdf:type mosim:Registry . - ?scene mosim:host ?host . - ?scene mosim:port ?port . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b474 a . - - + + a ; + true; rdfs:comment ""; - rdfs:label "Parallel"; - _:genid-b2c68679b5d6482884489a74810ff72b-b696 . + rdfs:label "defaultPrioParallel" . -_:genid-b2c68679b5d6482884489a74810ff72b-b474 - "1"^^xsd:int; - _:genid-b2c68679b5d6482884489a74810ff72b-b475 . + + a ; + rdfs:label "Success"; + rdfs:comment "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b475 a ; - ; - """ -PREFIX rdf: -PREFIX mosim: + + a ; + ; + ; + true; + rdfs:label "Place(Object)"; + rdfs:comment ""; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b678 . + + + a ; + ; + ; + ; + ; + rdfs:comment ""; + rdfs:label "GetFileContent_AR"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b635; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b420 . -SELECT ?intValue -WHERE { - ?operation rdf:type mosim:Operation . - ?operation mosim:type ?type . - BIND ( - IF ( CONTAINS(?type,\"Position\"), 1, - IF ( CONTAINS(?type,\"Insert\"), 2, - IF ( CONTAINS(?type,\"Press\"), 3, - IF ( CONTAINS(?type,\"Tighten\"), 4, - IF ( CONTAINS(?type,\"Check\"), 5, - 0 ))))) as ?intValue) - { SELECT ?operation - WHERE { - ?running mosim:runningOperation ?operation . - }} -}""" . + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Retrieve(Shelf)"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b683 . - + a ; rdfs:label "defaultSequence" . -_:genid-b2c68679b5d6482884489a74810ff72b-b476 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: + + a ; + ; + ; + rdfs:label "HandScrew(Screw)"; + true; + rdfs:comment ""; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b684 . + + + a ; + ; + rdfs:comment ""; + rdfs:label "Send_Result"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b660; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b438 . + + + a ; + rdfs:label "defaultSequence" . + + + a ; + rdfs:comment ""; + rdfs:label "Sequence" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b559 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"ObjectPlaced\"} +}""" . + + + a ; + ; + ; + true; + rdfs:label "Carry(Object)"; + rdfs:comment ""; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b686 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b546 a , + ; + ; + "" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b560 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + + + a ; + true; + rdfs:label "idle"; + rdfs:comment ""; + ; + ; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b687 . + + + a ; + rdfs:comment "" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b561 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"initError\"} +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b562 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "RegisterListener_AnimateFingers" . + + + a ; + ; + ; + rdfs:label "Retrieve(Screw)"; + true; + rdfs:comment ""; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b689 . + + + a ; + rdfs:label "defaultSequence" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b563 a , + ; + ; + """PREFIX ajan: +PREFIX rdf: +PREFIX mosim: + +CONSTRUCT { + ?agent mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . +} +WHERE { + ?agent rdf:type ajan:This . + + ?running mosim:runningOperation ?operation . + + ?operation rdf:type mosim:Operation ; + mosim:part ?part ; + mosim:basePart ?basePart ; + mosim:baseMarker ?insertConnection . + + ?instance1 rdf:type mosim:Instance ; + mosim:instanceId ?part ; + mosim:type ?mSceneObject . + + ?instance2 rdf:type mosim:Instance ; + mosim:instanceId ?basePart ; + mosim:type ?insertLocation . +}""" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "RegisterListener_CycleEnd" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b564 a ; + """CONSTRUCT WHERE { ?s ?p ?o } +"""; + . + + + a ; + ; + rdfs:comment ""; + rdfs:label "RegisterListener_ObjcetPlaced" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b565 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: PREFIX rdf: PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve03\" ; - mosim:instructionID ?retrieveID ; + mosim:mmu \"Object/Place\" ; + mosim:actionName \"Place01\" ; + mosim:instructionID ?placeID ; mosim:mmuProperty test:Object ; + mosim:mmuProperty test:TargetConstraint ; mosim:mmuProperty test:GraspingPoint ; - mosim:constraint ?constraint . + mosim:constraint ?constraint_1 ; + mosim:constraint ?constraint_2 . test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - test:GraspingPoint mosim:key \"GraspingPoint\" ; - mosim:value \"GraspConstraint\" . + mosim:value ?mSceneObject . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + test:TargetConstraint mosim:key \"TargetConstraint\" ; + mosim:value \"ROOT\" . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:object ?object_1 . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:object ?object_2 . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -3062,24 +4352,86 @@ WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . + mosim:RandomIDs mosim:placeID ?placeID . + ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . + mosim:placeing ?mSceneObject . - mosim:RandomIDs mosim:retrieveID ?retrieveID . + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObject ; + mosim:finalLocation ?target . + + ?target rdf:type mosim:FinalLocation ; + mosim:constraint ?constraint_1 . + + ?constraint_1 rdf:type mosim:MConstraint ; + mosim:id \"ROOT\" ; + mosim:object ?object_1 . ?bounderies rdf:type ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + mosim:constraint ?constraint_2 . + + ?constraint_2 rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object_2 . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b477 a , + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "walk(walkTarget)"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b690 . + + + a ; + ; + rdfs:comment ""; + rdfs:label "Tighten_Goal" . + + + a ; + ; + rdfs:comment ""; + rdfs:label "Position_Goal" . + + + a ; + rdfs:comment ""; + rdfs:label "defaultSequence" . + + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Place(Screw)"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b691 . + + + a ; + rdfs:label "defaultSequence" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b566 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 4) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b567 a , ; ; """PREFIX ajan: @@ -3092,7 +4444,9 @@ CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; mosim:mmu \"Object/Grasp\" ; mosim:actionName \"Grasp03\" ; + mosim:startCondition ?startCondition ; mosim:endCondition ?endCondition ; + mosim:instructionID ?graspID ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Handedness ; mosim:mmuProperty test:KeepClosed ; @@ -3125,8 +4479,11 @@ WHERE { ?agent rdf:type ajan:This ; mosim:inserting ?mSceneObjectID . - mosim:RandomIDs mosim:handScrewID ?handScrewID . + mosim:RandomIDs mosim:handScrewID ?handScrewID ; + mosim:retrieveID ?retrieveID ; + mosim:graspID ?graspID . + BIND(CONCAT(?retrieveID, \":AnimateFingers\") AS ?startCondition) BIND(CONCAT(?handScrewID, \":end\") AS ?endCondition) @@ -3143,169 +4500,158 @@ WHERE { ?cosim mosim:port ?port . }""" . - - a ; - false; - rdfs:label "Positioned(Object)"; - rdfs:comment "" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b478 a ; + + a ; + rdfs:comment ""; + rdfs:label "Sequence" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b568 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:finalEvent \"PositioningFinished\" ; - mosim:mmu \"Object/Carry\" ; - mosim:actionName \"Carry01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:GraspingPoint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:GraspingPoint mosim:key \"GraspingPoint\" ; - mosim:value \"GraspConstraintR\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +PREFIX xsd: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:retrieving ?mSceneObject . - - ?bounderies rdf:type ; - mosim:constraint ?constraint . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraintR\" ; - mosim:object ?object . + + a ; + ; + ; + rdfs:comment ""; + rdfs:label "GET_TaskList" . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b569 a ; + ; + """DELETE { + ?s ?p ?o +} +WHERE { + ?s ?p ?o }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b479 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b547 a ; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b570 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b571 a ; ; """PREFIX mosim: PREFIX rdf: SELECT ?host ?port WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?scene rdf:type mosim:Registry . + ?scene mosim:host ?host . + ?scene mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b480 a ; + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Retrieve(Screw)"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b692 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b572 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: + "CONSTRUCT WHERE {?s ?o}" . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . + + a ; + rdfs:label "defaultSequence" . - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; - mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; - mosim:constraint ?constraint . - - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . + + a ; + ; + ; + rdfs:label "Place(Screw)"; + true; + rdfs:comment ""; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b694 . - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; - mosim:value ?screwdriverObject . + + a ; + ; + ; + true; + rdfs:label "Walk(Target)"; + rdfs:comment ""; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b700 . - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . + + a ; + false; + rdfs:comment ""; + rdfs:label "SetTask?!" . - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . + + a ; + ; + rdfs:comment ""; + rdfs:label "RegisterListener_End" . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b573 a ; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b574; + "1"^^xsd:int; + "1"^^xsd:int; + "2"^^xsd:int; + "clingo"; + "5"^^xsd:int . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; - mosim:tighteningTool ?screwdriverObject . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b574 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b575; + rdf:rest rdf:nil . - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?placeID, \":cycleEnd\") AS ?startCondition) + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "Place(Shelf)"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b703 . - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . - } LIMIT 1 - } + + a ; + ; + true; + ; + rdfs:comment ""; + rdfs:label "HandScrew(Screw)"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b705 . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + + a ; + ; + rdfs:comment ""; + rdfs:label "Repeater" . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b575 a ; + ""; + "5" . - - a ; - true; + + a ; + false; rdfs:comment ""; - rdfs:label "defaultPrioParallel" . + rdfs:label "SetOperation?!" . -_:genid-b2c68679b5d6482884489a74810ff72b-b481 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b576 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 3) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b577 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -3316,8 +4662,7 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; mosim:mmu \"Object/Grasp\" ; - mosim:actionName \"Grasp04\" ; - mosim:endCondition ?endCondition ; + mosim:actionName \"Grasp02\" ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Handedness ; mosim:mmuProperty test:KeepClosed ; @@ -3334,7 +4679,7 @@ CONSTRUCT { mosim:value \"true\" . test:GraspingConstraint mosim:key \"GraspingConstraint\" ; - mosim:value \"GraspConstraint\" . + mosim:value \"GraspConstraintR\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . @@ -3348,19 +4693,14 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:tighteningTool ?mSceneObjectID . - - mosim:RandomIDs mosim:returnID ?returnID . - - BIND(CONCAT(?returnID, \":end\") AS ?endCondition) - + mosim:carrying ?mSceneObjectID . ?mSceneObject rdf:type mosim:MSceneObject ; rdfs:label ?mSceneObjectID ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraint\" ; + mosim:id \"GraspConstraintR\" ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator . @@ -3368,134 +4708,9 @@ WHERE { ?cosim mosim:port ?port . }""" . - - a ; - rdfs:label "Success"; - rdfs:comment "" . - - - a ; - ; - ; - true; - rdfs:label "Place(Object)"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b650 . - - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "Retrieve(Shelf)"; - _:genid-b2c68679b5d6482884489a74810ff72b-b654 . - - - a ; - rdfs:label "defaultSequence" . - - - a ; - ; - ; - rdfs:label "HandScrew(Screw)"; - true; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b655 . - -_:genid-b2c68679b5d6482884489a74810ff72b-b482 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b483 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value \"shelf-v1 (1)\" . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"CarryConstraint\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?bounderies rdf:type ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - - - a ; - rdfs:label "defaultSequence" . - - - a ; - rdfs:comment ""; - rdfs:label "Sequence" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b484 a ; - ""; - "5" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b485 a ; - ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?eventType -WHERE { - VALUES ?eventType {\"AnimateFingers\"} -}""" . - - - a ; - ; - ; - true; - rdfs:label "Carry(Object)"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b657 . - -_:genid-b2c68679b5d6482884489a74810ff72b-b486 a ; - ; - """PREFIX mosim: +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b578 a ; + ; + """PREFIX mosim: ASK WHERE { @@ -3532,389 +4747,223 @@ WHERE { } """ . -_:genid-b2c68679b5d6482884489a74810ff72b-b487 a ; + + a ; + rdfs:comment ""; + rdfs:label "Unknown_Instruction"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b504 . + + + a ; + rdfs:comment ""; + rdfs:label "Press_Instruction"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b642 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b579 a ; + ; + """DELETE { + ?s ?p ?o . +} +WHERE { + ?s ?p ?o . + ?s a . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b580 a ; ; """PREFIX mosim: +PREFIX rdf: -INSERT { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . -} +SELECT ?port WHERE { - BIND(RAND() AS ?rand) - - BIND(CONCAT(\"Retrieve03_ID\", STR(?rand)) AS ?retrieveID) - BIND(CONCAT(\"Place03_ID\", STR(?rand)) AS ?placeID) - BIND(CONCAT(\"Return01_ID\", STR(?rand)) AS ?returnID) - BIND(CONCAT(\"ScrewManual01_ID\", STR(?rand)) AS ?screwManualID) + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . }""" . - - a ; - true; - rdfs:label "idle"; + + a ; + true; rdfs:comment ""; - ; - ; - _:genid-b2c68679b5d6482884489a74810ff72b-b658 . + rdfs:label "Executor"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b714; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b520 . - - a ; - rdfs:comment "" . + + a ; + rdfs:comment ""; + rdfs:label "defaultPriority" . -_:genid-b2c68679b5d6482884489a74810ff72b-b488 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b581 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}""" . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Locomotion/Walk\" ; - mosim:actionName \"Walk00\" ; - mosim:mmuProperty test:TargetProperty . - - test:TargetProperty mosim:key \"TargetID\" ; - mosim:value ?id . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b549 a ; + "application/json"; + . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + + a ; + rdfs:comment ""; + rdfs:label "defaultPriority" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b570 a ; + ; + """PREFIX ar: +PREFIX rdf: + +CONSTRUCT { + ar:Message_1 a ar:Message ; + ar:action ar:Action_1 ; + ar:project ar:Project_1 ; + ar:name ar:Name_1 ; + ar:newFile ar:NewFile_1 ; + ar:email ar:EMail_1 ; + ar:password ar:Password_1 . + + ar:Action_1 a ar:Action ; + ar:value \"putJSONasFile\" . + ar:Project_1 a ar:Project ; + ar:value ?project . + ar:Name_1 a ar:Name ; + ar:value \"reasoning_result.lp\" . + ar:NewFile_1 a ar:NewFile ; + ar:value ?content . + ar:EMail_1 a ar:EMail ; + ar:value ?email . + ar:Password_1 a ar:Password ; + ar:value ?password . } + WHERE { - ?agent mosim:nextLocation ?targetID . + ?result a . + ?result ?content . - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . + ?s rdf:type ar:Credentials ; + ar:project ?project ; + ar:email ?email ; + ar:password ?password . +}""" . - ?target rdf:type mosim:MSceneObject ; - rdfs:label ?targetID ; - mosim:id ?id . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b582 a ; + ; + """PREFIX mosim: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +DELETE { + mosim:RandomIDs mosim:carryID ?carryID ; + mosim:walkID ?walkID ; + mosim:graspID ?graspID . +} +WHERE { + mosim:RandomIDs mosim:carryID ?carryID ; + mosim:walkID ?walkID ; + mosim:graspID ?graspID . }""" . - - a ; - ; + + ; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b644 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b583 a ; + ; + """ASK WHERE { ?s ?o } +""" . + + + a ; + ; rdfs:comment ""; - rdfs:label "RegisterListener_AnimateFingers" . + rdfs:label "HandleEvent"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b457 . - + + a ; + ; + rdfs:label "HandleEvent"; + rdfs:comment ""; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b445 . + + a ; ; - ; - rdfs:label "Retrieve(Screw)"; true; + ; rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b660 . + rdfs:label "Carry(Shelf)"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b710 . - + a ; + rdfs:comment ""; rdfs:label "defaultSequence" . -_:genid-b2c68679b5d6482884489a74810ff72b-b489 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b584 a ; ; """PREFIX mosim: PREFIX rdf: +PREFIX xsd: -SELECT ?eventType +SELECT ((xsd:int(?int) + 1) as ?port) WHERE { - VALUES ?eventType {\"initError\"} + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . - - a ; - ; - rdfs:comment ""; - rdfs:label "RegisterListener_CycleEnd" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b490 a ; - "CONSTRUCT WHERE {?s ?p ?o}"; - . - - - a ; - ; - rdfs:comment ""; - rdfs:label "RegisterListener_ObjcetPlaced" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b491 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b585 a , + ; ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX ajan: + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: +PREFIX rdf: +PREFIX test: CONSTRUCT { - ?agent mosim:placeing ?mSceneObject . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . -}""" . - - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "walk(walkTarget)"; - _:genid-b2c68679b5d6482884489a74810ff72b-b661 . - - - a ; - ; - rdfs:comment ""; - rdfs:label "Tighten_Goal" . - - - a ; - ; - rdfs:comment ""; - rdfs:label "Position_Goal" . - - - a ; - rdfs:comment ""; - rdfs:label "defaultSequence" . - - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "Place(Screw)"; - _:genid-b2c68679b5d6482884489a74810ff72b-b662 . - - - a ; - rdfs:label "defaultSequence" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b492 a ; - ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?eventType -WHERE { - VALUES ?eventType {\"PositioningFinished\"} -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b493 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . - - - a ; - rdfs:comment ""; - rdfs:label "Sequence" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b494 a ; - ; - """ASK WHERE {?s ?p ?o} -""" . - - - a ; - ; - ; - rdfs:comment ""; - rdfs:label "GET_TaskList" . + test:Instruction mosim:avatarID ?avatarId ; + mosim:finalEvent \"PositioningFinished\" ; + mosim:mmu \"Object/Carry\" ; + mosim:actionName \"Carry01\" ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value \"shelf-v1 (1)\" . -_:genid-b2c68679b5d6482884489a74810ff72b-b495 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . - ?avatar rdf:type mosim:Avatar . ?avatar mosim:id ?avatarId . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b496 a ; - ""; - "5" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b497 a ; - ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX mosim: -PREFIX ajan: - -DELETE { - ?agent mosim:positioning ?mSceneObject . - - ?oldArea mosim:hasChild ?object . -} -INSERT { - ?newArea mosim:hasChild ?object . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . - - ?oldArea rdf:type mosim:Area; - mosim:hasChild ?object . - - ?object rdf:type mosim:MSceneObject; - rdfs:label ?mSceneObject ; - mosim:finalLocation ?final . - - ?newArea rdf:type mosim:Area; - mosim:hasChild ?final . -}""" . - - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "Retrieve(Screw)"; - _:genid-b2c68679b5d6482884489a74810ff72b-b663 . - - - a ; - rdfs:label "defaultSequence" . - - - a ; - ; - ; - rdfs:label "Place(Screw)"; - true; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b665 . - - - a ; - ; - ; - true; - rdfs:label "Walk(Target)"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b671 . - - a ; - false; - rdfs:comment ""; - rdfs:label "SetTask?!" . - - - a ; - ; - rdfs:comment ""; - rdfs:label "RegisterListener_End" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b498 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b499 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b586 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve02\" ; - mosim:instructionID \"Retrieve02_ID\" ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value \"Screw_bigAnnotated (1)\" . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + """DELETE { + ?s ?p ?o . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?s ?p ?o . + ?s a . }""" . - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "Place(Shelf)"; - _:genid-b2c68679b5d6482884489a74810ff72b-b674 . - - - a ; - ; - true; - ; - rdfs:comment ""; - rdfs:label "HandScrew(Screw)"; - _:genid-b2c68679b5d6482884489a74810ff72b-b676 . - - - a ; - ; - rdfs:comment ""; - rdfs:label "Repeater" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b500 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . - - - a ; - false; + + a ; + rdfs:label "At(Target)"; rdfs:comment ""; - rdfs:label "SetOperation?!" . + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b612 . -_:genid-b2c68679b5d6482884489a74810ff72b-b501 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b587 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -3927,8 +4976,6 @@ CONSTRUCT { test:Instruction mosim:mmu \"Object/Screw/Hand\" ; mosim:actionName \"HandScrew01\" ; - mosim:instructionID \"HandScrew01_ID\" ; - mosim:startCondition \"Place02_ID:cycleEnd\" ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Handedness ; mosim:mmuProperty test:PositionConstraint ; @@ -3981,221 +5028,96 @@ WHERE { mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b502 a ; - ; - """PREFIX mosim: -PREFIX rdf: + + a ; + rdfs:label "At Target?"; + rdfs:comment ""; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b499 . -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . + + . - - a ; - rdfs:comment ""; - rdfs:label "Unknown_Instruction"; - _:genid-b2c68679b5d6482884489a74810ff72b-b591 . + + . - - a ; + a , + ; + ; + rdfs:label "MOSIM_Final_BT" . + + + a ; rdfs:comment ""; - rdfs:label "Press_Instruction"; - _:genid-b2c68679b5d6482884489a74810ff72b-b494 . + rdfs:label "defaultIsSucceeding"; + . -_:genid-b2c68679b5d6482884489a74810ff72b-b509 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b588 a ; ; - """PREFIX rdfs: + "{\"id\":\"Query Host\",\"title\":\"Query Host\",\"description\":\"\",\"nodes\":[\"All\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"host,port,cosim,type\",\"parameters\":[{\"label\":\"Host Type\",\"variable\":\"type\",\"variableBinding\":\"mosim:Scene\",\"title\":\"Host Type\",\"mode\":\"Dropdown\",\"note\":null,\"sparql\":{\"query\":\"undefined\"},\"possibleValues\":[{\"label\":\"CoSimulator\",\"dataValue\":\"mosim:CoSimulator\"},{\"label\":\"Registry\",\"dataValue\":\"mosim:Registry\"},{\"label\":\"Scene\",\"dataValue\":\"mosim:Scene\"}]}]}"; + """PREFIX mosim: PREFIX rdf: -PREFIX ajan: -PREFIX mosim: - -CONSTRUCT { - ?agent mosim:retrieving ?mSceneObject . -} +SELECT ?host ?port WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . -}""" . - - - a ; - true; - rdfs:comment ""; - rdfs:label "Executor"; - _:genid-b2c68679b5d6482884489a74810ff72b-b685; - _:genid-b2c68679b5d6482884489a74810ff72b-b474 . - -_:genid-b2c68679b5d6482884489a74810ff72b-b520 a ; - ; + ?cosim rdf:type ?type . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . +}"""; """PREFIX mosim: PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b521 a ; - ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: - -DELETE { - ?agent mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . -} +SELECT ?host ?port WHERE { - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . + ?cosim rdf:type mosim:Scene . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b527 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Return01\" ; - mosim:startCondition ?startCondition ; - mosim:instructionID ?returnID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:TargetConstraint ; - mosim:mmuProperty test:GraspingPoint ; - mosim:constraint ?constraint_1 ; - mosim:constraint ?constraint_2 . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value \"ROOT\" . - - test:TargetConstraint mosim:key \"GraspingPoint\" ; - mosim:value \"GraspConstraint\" . - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . - - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:object ?object_2 . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:returnID ?returnID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?screwManualID, \":end+ 0.05\") AS ?startCondition) - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwdriverObject ; - mosim:finalLocation ?target . - - ?target rdf:type mosim:FinalLocation ; - mosim:constraint ?constraint_1 . - - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:id \"ROOT\" ; - mosim:object ?object_1 . - - ?bounderies rdf:type ; - mosim:constraint ?constraint_2 . + + a ; + rdfs:label "defaultPriority" . - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraint\" ; - mosim:object ?object_2 . + a , + ; + ; + rdfs:label "MOSIM_Initial_BT" . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . + + a , ; + ; + rdfs:label "Process_Tasklist_BT" . -_:genid-b2c68679b5d6482884489a74810ff72b-b528 a ; - ; - """PREFIX mosim: +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b589 a ; + """PREFIX ar: PREFIX rdf: -SELECT ?eventType -WHERE { - VALUES ?eventType {\"end\"} -}""" . +CONSTRUCT WHERE { + ?s ?p ?o . +}"""; + . -_:genid-b2c68679b5d6482884489a74810ff72b-b529 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b590 a ; ; """PREFIX mosim: PREFIX rdf: - -SELECT ?eventType +SELECT ?host ?port WHERE { - VALUES ?eventType {\"PositioningFinished\"} + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . - - ; - _:genid-b2c68679b5d6482884489a74810ff72b-b490 . - - - a ; - ; - rdfs:comment ""; - rdfs:label "HandleEvent"; - _:genid-b2c68679b5d6482884489a74810ff72b-b561 . - - - a ; - ; - rdfs:label "HandleEvent"; + + a , ; + ; rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b447 . + rdfs:label "Position_BT" . - - a ; - ; - true; + + a ; ; - rdfs:comment ""; - rdfs:label "Carry(Shelf)"; - _:genid-b2c68679b5d6482884489a74810ff72b-b681 . - - - a ; - rdfs:comment ""; - rdfs:label "defaultSequence" . + rdfs:label "GetScene"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b588 . -_:genid-b2c68679b5d6482884489a74810ff72b-b530 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b591 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -4207,7 +5129,6 @@ CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; mosim:mmu \"Object/Grasp\" ; mosim:actionName \"Grasp04\" ; - mosim:endCondition ?endCondition ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Handedness ; mosim:mmuProperty test:KeepClosed ; @@ -4239,11 +5160,6 @@ WHERE { ?agent rdf:type ajan:This ; mosim:tighteningTool ?mSceneObjectID . - - mosim:RandomIDs mosim:returnID ?returnID . - - BIND(CONCAT(?returnID, \":end\") AS ?endCondition) - ?mSceneObject rdf:type mosim:MSceneObject ; rdfs:label ?mSceneObjectID ; @@ -4258,8 +5174,16 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b531 a , - ; + + rdfs:label "LastOperation_Tightening?"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b578 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b592 a ; + ; + . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b593 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -4269,13 +5193,12 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve02\" ; - mosim:instructionID ?retrieveID ; - mosim:mmuProperty test:Object . + mosim:mmu \"Locomotion/Walk\" ; + mosim:actionName \"Walk01\" ; + mosim:mmuProperty test:TargetProperty . - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + test:TargetProperty mosim:key \"TargetID\" ; + mosim:value ?id . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; @@ -4285,127 +5208,236 @@ WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject . - - mosim:RandomIDs mosim:retrieveID ?retrieveID . + ?target rdf:type mosim:MSceneObject ; + rdfs:label \"WalkTarget\" ; + mosim:id ?id . ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b532 a ; - ; - """PREFIX mosim: - -DELETE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . -} -WHERE { - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . -}""" . + + a , ; + ; + rdfs:label "Carry_BT" . - - a ; - rdfs:label "At(Target)"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b429 . + + a , ; + ; + rdfs:label "Insert_BT" . - - a ; - rdfs:label "At Target?"; + + a , ; + ; + rdfs:label "Walk_BT"; + rdfs:comment "" . + + + a ; + ; + """import json +import AJANlib +from rdflib import Graph, URIRef, BNode, Literal + +# Node logic to convert ./testFile.json into AIToC specific ASP rules +class Json2ASPNode(AJANlib.LeafNode): + + rdf_subject = \"http://www.ajan.de/behavior/asp-ns#JSON2ASP\" + rdf_predicate = \"http://www.ajan.de/behavior/asp-ns#asRules\" + asp_type_predicates = { + \"Smooth through hole\": \"smooth_through_hole\" + } + + def readProperty(self, rule_set, inst, prop): + for key in prop: + predicate = 'has_{}'.format(key.lower()) + rule_set.append(predicate + '(' + inst + ',\"' + prop[key] + '\").') + + def readPartProperty(self, rule_set, properties): + index = properties['ID'].lower() + subsystem = properties['Subsystem'].lower() + rule_set.append(subsystem + '({}).'.format(index)) + self.readProperty(rule_set, index, properties) + return index + + def setTypePredicate(self, asp_rules, index, keyword, component_instance): + asp_predicate = self.asp_type_predicates.get(keyword) + instance = asp_predicate + '_{}'.format(index) + asp_rules.append('has_' + asp_predicate + '(' + component_instance + ',' + instance + ').') + asp_instance = asp_predicate + '({}).'.format(instance) + asp_rules.append(asp_instance) + return instance + + def getASP(self, json_txt): + annotation = json.loads(json_txt) + asp_rules = [] + component_instance = '' + index = 1 + + for item in annotation['Constraints']: + if item['ID'] == 'PartProperties': + if item['Properties']: + component_instance = self.readPartProperty(asp_rules, item['Properties']) + if item['ID'] in self.asp_type_predicates.keys(): + instance = self.setTypePredicate(asp_rules, index, item['ID'], component_instance) + if item['Properties']: + self.readProperty(asp_rules, instance, item['Properties']) + index = index + 1 + return asp_rules + + def executeLeafNode(self, input: Graph): + output = Graph() + for s, p, o in input: + if p == URIRef('http://www.ajan.de/ajan-mapping-ns#jsonString'): + resulting_rules = ' '.join(map(str, self.getASP(o))) + output.add((URIRef(self.rdf_subject), URIRef(self.rdf_predicate), Literal(resulting_rules))) + print(resulting_rules) + + return AJANlib.NodeResult(status=AJANlib.Status.SUCCEEDED, label='Converted JSON to ASP!', rdf_output=output) + + def getClassName(self): + return 'Json2ASPNode' +"""; rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b462 . + rdfs:label "JSON_2_ASP" . - - . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b594 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: - - . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . - a , - ; - ; - rdfs:label "MOSIM_Final_BT" . + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; + mosim:constraint ?constraint . + + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . - - a ; - rdfs:comment ""; - rdfs:label "defaultIsSucceeding"; - . + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . -_:genid-b2c68679b5d6482884489a74810ff72b-b533 a ; - ; - """PREFIX mosim: + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . -ASK + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - ?running mosim:runningTask ?task . - ?running mosim:runningOperation ?operation . - ?task mosim:step ?tStep . - ?operation mosim:step ?sStep . - - { SELECT (COUNT(?someStep)-1 as ?stepCount) - WHERE { - ?running mosim:runningTask ?currTask . - ?currTask a mosim:Task . - ?currTask mosim:operation ?nextOperation . - ?nextOperation mosim:step ?someStep . - } - } + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . + + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . - BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?otStep) + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) - BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . - FILTER(?step = ?newSStep) - FILTER(?ntStep = ?otStep) + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } - ?newTask a mosim:Task . - ?newTask mosim:step ?ntStep . - ?newTask mosim:operation ?newOperation . - ?newOperation mosim:step ?step . - ?newOperation mosim:type ?type . - - FILTER CONTAINS(?type,\"Tighten\") -} -""" . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . - a , - ; - ; - rdfs:label "MOSIM_Initial_BT" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b595 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . - - a , ; - ; - rdfs:label "Process_Tasklist_BT" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b596 a ; + ; + "" . -_:genid-b2c68679b5d6482884489a74810ff72b-b534 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b597 a ; ; - """SELECT ?requestURI + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: + +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:positioned ?mSceneObject ; + mosim:executedTask ?task . +} WHERE { - VALUES ?requestURI {\"https://teaching-taskeditor.aitoc.eu/api.php?action=getTaskList&station=127&format=AITOCJSON&token=feg5RNmKunfWODU9sfIeyMEIdLVHY8\"} + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . + + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b535 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b598 a ; + ; + . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b599 a ; ; - """DELETE { - ?s ?p ?o . + """PREFIX rdf: + +DELETE { + ?e ?o . } WHERE { - ?s ?p ?o . - ?s a . + ?e ?o . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b536 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b600 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -4414,133 +5446,103 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Grasp\" ; - mosim:actionName \"Grasp01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:KeepClosed ; - mosim:mmuProperty test:GraspingConstraint ; + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Hand\" ; + mosim:actionName \"HandScrew01\" ; + mosim:instructionID \"HandScrew01_ID\" ; + mosim:startCondition \"Place02_ID:cycleEnd\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:PositionConstraint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObjectID . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:KeepClosed mosim:key \"KeepClosed\" ; - mosim:value \"true\" . + mosim:value \"Screw_bigAnnotated (1)\" . - test:GraspingConstraint mosim:key \"GraspingConstraint\" ; - mosim:value \"GraspConstraintR\" . + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:PositionConstraint mosim:key \"PositionConstraint\" ; + mosim:value \"Smooth blind hole\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - ?agent rdf:type ajan:This ; - mosim:retrieving ?mSceneObjectID . - - ?mSceneObject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObjectID ; - mosim:constraint ?constraint . + { SELECT ?constraint + WHERE { + ?subject rdf:type mosim:MSceneObject ; + rdfs:label \"shelf-v1 (1)\" ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"Smooth blind hole\" . + } LIMIT 1 + } ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraintR\" ; - mosim:object ?object . + mosim:object ?object . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . - - a , ; - ; + + a ; + ; rdfs:comment ""; - rdfs:label "Position_BT" . - - - a ; - ; - rdfs:label "GetScene"; - _:genid-b2c68679b5d6482884489a74810ff72b-b556 . + rdfs:label "Repeater" . - - rdfs:label "LastOperation_Tightening?"; - _:genid-b2c68679b5d6482884489a74810ff72b-b486 . - -_:genid-b2c68679b5d6482884489a74810ff72b-b537 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b538 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 4) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . - - - a , ; - ; - rdfs:label "Carry_BT" . + + a ; + rdfs:comment ""; + rdfs:label "defaultSequence" . - - a , ; - ; - rdfs:label "Insert_BT" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b601 a ; + ; + false; + true; + . - - a , ; - ; - rdfs:label "Walk_BT"; - rdfs:comment "" . + + ; + ; + rdfs:label "ScrewManual(Object)"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b679 . -_:genid-b2c68679b5d6482884489a74810ff72b-b539 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b602 a ; ; - """PREFIX mosim: -PREFIX rdf: - -SELECT ?eventType + """DELETE { + ?s ?p ?o . +} WHERE { - VALUES ?eventType {\"initError\"} + ?s ?p ?o . + ?s a . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b540 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + + a ; + rdfs:label "defaultSequence" . -_:genid-b2c68679b5d6482884489a74810ff72b-b541 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b603 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -4551,11 +5553,14 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; mosim:mmu \"Object/Grasp\" ; - mosim:actionName \"Grasp04\" ; + mosim:actionName \"Grasp03\" ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?graspID ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Handedness ; mosim:mmuProperty test:KeepClosed ; mosim:mmuProperty test:GraspingConstraint ; + mosim:mmuProperty test:StartInGrasp ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; @@ -4568,11 +5573,14 @@ CONSTRUCT { mosim:value \"true\" . test:GraspingConstraint mosim:key \"GraspingConstraint\" ; - mosim:value \"GraspConstraint\" . + mosim:value \"GraspConstraintR\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . + test:StartInGrasp mosim:key \"StartInGrasp\" ; + mosim:value \"true\" . + ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . @@ -4582,14 +5590,19 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:tighteningTool ?mSceneObjectID . + mosim:placeing ?mSceneObjectID . + + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:graspID ?graspID . + + BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?endCondition) ?mSceneObject rdf:type mosim:MSceneObject ; rdfs:label ?mSceneObjectID ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraint\" ; + mosim:id \"GraspConstraintR\" ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator . @@ -4597,97 +5610,54 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b542 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b604 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place03\" ; - mosim:startCondition ?startCondition ; - mosim:endCondition ?endCondition ; - mosim:instructionID ?placeID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Release ; - mosim:mmuProperty test:TargetConstraint ; - mosim:mmuProperty test:GraspingPoint ; - mosim:constraint ?constraint_1 ; - mosim:constraint ?constraint_2 . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . - - test:Release mosim:key \"Release\" ; - mosim:value \"false\" . - - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?bound_id . +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . - test:GraspingPoint mosim:key \"GraspingPoint\" ; - mosim:value \"GraspConstraint\" . - - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:object ?object_2 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b605 a , + ; + ; + """PREFIX ar: - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ?requestURI WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . + ?s ar:url ?requestURI . +}""" . - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?retrieveID, \":end\") AS ?startCondition) - BIND(CONCAT(?screwManualID, \":end\") AS ?endCondition) +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b606 a ; + ; + """PREFIX ar: - ?bounderies_1 rdf:type ; - mosim:constraint ?constraint_1 . +ASK +WHERE { + ?s ar:url ?requestURI . +}""" . - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object_1 . - - FILTER (?bound_id != \"GraspConstraint\") - - ?bounderies_2 rdf:type ; - mosim:constraint ?constraint_2 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b607 a ; + ; + . - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraint\" ; - mosim:object ?object_2 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b608 a ; + ; + """PREFIX mosim: +PREFIX rdf: - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"AnimateFingers\"} }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b543 a , +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b609 a , ; ; """PREFIX ajan: @@ -4698,34 +5668,22 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Grasp\" ; - mosim:actionName \"Grasp02\" ; - mosim:endCondition ?endCondition ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve03\" ; + mosim:instructionID ?retrieveID ; mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:KeepClosed ; - mosim:mmuProperty test:GraspingConstraint ; - mosim:mmuProperty test:StartInGrasp ; + mosim:mmuProperty test:GraspingPoint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObjectID . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . + mosim:value ?screwdriverObject . - test:KeepClosed mosim:key \"KeepClosed\" ; - mosim:value \"true\" . - - test:GraspingConstraint mosim:key \"GraspingConstraint\" ; - mosim:value \"GraspConstraintR\" . + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraint\" . - ?constraint rdf:type mosim:MConstraint ; + ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . - test:StartInGrasp mosim:key \"StartInGrasp\" ; - mosim:value \"true\" . - ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . @@ -4735,82 +5693,121 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:placeing ?mSceneObjectID . - - mosim:RandomIDs mosim:placeID ?placeID . + mosim:tightening ?screwObject ; + mosim:tighteningTool ?screwdriverObject . - BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?endCondition) + mosim:RandomIDs mosim:retrieveID ?retrieveID . - ?mSceneObject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObjectID ; + ?bounderies rdf:type ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraintR\" ; mosim:object ?object . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b544 a ; - ; - "" . + + a ; + rdfs:label "defaultSequence" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b610 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b611 a ; + ; + false; + true; + . + + + ; + ; + rdfs:label "Place(Object)"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b688 . + + + a ; + rdfs:comment ""; + rdfs:label "defaultSequence" . -_:genid-b2c68679b5d6482884489a74810ff72b-b545 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b612 a ; ; """PREFIX rdf: PREFIX ajan: PREFIX mosim: -DELETE { - ?agent mosim:retrieving ?object . -} -INSERT { - ?agent mosim:inHand ?object . -} +ASK WHERE { ?agent rdf:type ajan:This ; - mosim:retrieving ?object . -}""" . + mosim:location ?target ; + mosim:nextLocation ?target . +} + +""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b546 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b613 a ; ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: -DELETE { - ?agent mosim:inHand ?object ; - mosim:placeing ?object . -} +SELECT ((xsd:int(?int) + 2) as ?port) WHERE { - ?agent rdf:type ajan:This ; - mosim:inHand ?object ; - mosim:placeing ?object . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b547 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b614 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId +SELECT ?host ?port WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . +}""" . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b615 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . - - a ; - rdfs:comment ""; - rdfs:label "defaultSequence" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b616 a ; + ; + """PREFIX ajan: +PREFIX rdf: +PREFIX test: +PREFIX mosim: + +INSERT { + ?agent mosim:runningTask test:Task . + ?agent mosim:runningOperation test:Operation . + test:Task mosim:step -1 . + test:Task a mosim:Task . + test:Task mosim:operation test:Operation . + + test:Operation mosim:step -1 . + test:Operation a mosim:Operation . + + ?agent mosim:hand \"Right\" . + ?agent mosim:location \"material_station_target\" . +} +WHERE { + ?agent rdf:type ajan:This . +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b548 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b617 a ; ; """PREFIX mosim: @@ -4842,19 +5839,69 @@ WHERE { ?newOperation mosim:step ?step . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b549 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b618 a ; ; """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port + +INSERT { + ?running mosim:nextTaskStep ?newTStep . +} WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . + + { SELECT (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?currTask . + ?currTask a mosim:Task . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } + } + + BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?newTStep) }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b550 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b619 a ; + ; + """PREFIX mosim: + +ASK +WHERE { + ?running mosim:runningTask ?task . + ?running mosim:runningOperation ?operation . + ?task mosim:step ?tStep . + ?operation mosim:step ?sStep . + + { SELECT (COUNT(?someStep)-1 as ?stepCount) + WHERE { + ?running mosim:runningTask ?currTask . + ?currTask a mosim:Task . + ?currTask mosim:operation ?nextOperation . + ?nextOperation mosim:step ?someStep . + } + } + + BIND (IF (?tStep = -1, 0, IF (?sStep < ?stepCount, ?tStep, ?tStep+1)) AS ?otStep) + + BIND (IF (?tStep < ?otStep, 0, ?sStep+1) AS ?newSStep) + + FILTER(?step = ?newSStep) + FILTER(?ntStep = ?otStep) + + ?newTask a mosim:Task . + ?newTask mosim:step ?ntStep . + ?newTask mosim:operation ?newOperation . + ?newOperation mosim:step ?step . + ?newOperation mosim:type ?type . + + FILTER CONTAINS(?type,\"Tighten\") +} +""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b620 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -4863,115 +5910,61 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; - mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp03\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; mosim:constraint ?constraint . - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . - - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; - mosim:value ?screwdriverObject . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObjectID . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraint\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; - mosim:tighteningTool ?screwdriverObject . - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) + ?agent rdf:type ajan:This ; + mosim:inserting ?mSceneObjectID . - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . - } LIMIT 1 - } + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; + mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + mosim:id \"GraspConstraint\" ; + mosim:object ?object . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . - + ; ; - rdfs:label "ScrewManual(Object)"; - _:genid-b2c68679b5d6482884489a74810ff72b-b651 . - -_:genid-b2c68679b5d6482884489a74810ff72b-b551 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b552 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . - -_:genid-b2c68679b5d6482884489a74810ff72b-b553 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: - -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + rdfs:label "Retrieve(Object)"; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b693 . -_:genid-b2c68679b5d6482884489a74810ff72b-b554 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b621 a ; ; """PREFIX mosim: PREFIX rdf: @@ -4982,114 +5975,104 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b555 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b622 a , + ; ; - """PREFIX mosim: + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: PREFIX rdf: -PREFIX xsd: +PREFIX test: -SELECT ((xsd:int(?int) + 4) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:mmu \"Object/Retrieve\" ; + mosim:actionName \"Retrieve02\" ; + mosim:instructionID \"Retrieve02_ID\" ; + mosim:mmuProperty test:Object . + + test:Object mosim:key \"Object\" ; + mosim:value \"Screw_bigAnnotated (1)\" . -_:genid-b2c68679b5d6482884489a74810ff72b-b556 a ; - ; - "{\"id\":\"Query Host\",\"title\":\"Query Host\",\"description\":\"\",\"nodes\":[\"All\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"host,port,cosim,type\",\"parameters\":[{\"label\":\"Host Type\",\"variable\":\"type\",\"variableBinding\":\"mosim:Scene\",\"title\":\"Host Type\",\"mode\":\"Dropdown\",\"note\":null,\"sparql\":{\"query\":\"undefined\"},\"possibleValues\":[{\"label\":\"CoSimulator\",\"dataValue\":\"mosim:CoSimulator\"},{\"label\":\"Registry\",\"dataValue\":\"mosim:Registry\"},{\"label\":\"Scene\",\"dataValue\":\"mosim:Scene\"}]}]}"; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type ?type . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}"""; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:Scene . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b557 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +} WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?avatar rdf:type mosim:Avatar ; + mosim:id ?avatarId . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b558 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: + + a ; + ; + rdfs:comment ""; + rdfs:label "UnregisterListener_AnimateFingers" . -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b623 a ; + ; + """ASK WHERE { ?s ?o } +""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b559 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b624 a ; ; - """PREFIX rdf: + """PREFIX ajan: +PREFIX rdfs: PREFIX mosim: -PREFIX ajan: +PREFIX rdf: +PREFIX test: -INSERT { - ?agent mosim:history ?history . +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId ; + mosim:finalEvent \"PositioningFinished\" ; + mosim:mmu \"Object/Carry\" ; + mosim:actionName \"Carry01\" ; + mosim:mmuProperty test:Object ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:GraspingPoint ; + mosim:constraint ?constraint . + + test:Object mosim:key \"Object\" ; + mosim:value ?mSceneObject . - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:inserted ?mSceneObject ; - mosim:insertedLocation ?insertLocation ; - mosim:insertedConnection ?insertConnection ; - mosim:executedTask ?task . + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:GraspingPoint mosim:key \"GraspingPoint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . } WHERE { - ?agent mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) + ?agent rdf:type ajan:This ; + mosim:retrieving ?mSceneObject . - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) -}""" . + ?bounderies rdf:type ; + mosim:constraint ?constraint . -_:genid-b2c68679b5d6482884489a74810ff72b-b560 a ; - ; - """PREFIX mosim: -PREFIX rdf: + ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; + mosim:object ?object . -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b561 a ; - "CONSTRUCT WHERE { ?s ?p ?o }"; - . - - - ; - ; - rdfs:label "Place(Object)"; - _:genid-b2c68679b5d6482884489a74810ff72b-b659 . - -_:genid-b2c68679b5d6482884489a74810ff72b-b562 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b625 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -5100,12 +6083,14 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; mosim:mmu \"Object/Grasp\" ; - mosim:actionName \"Grasp02\" ; + mosim:actionName \"Grasp04\" ; + mosim:startCondition ?startCondition ; + mosim:endCondition ?endCondition ; + mosim:instructionID ?graspID ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Handedness ; mosim:mmuProperty test:KeepClosed ; mosim:mmuProperty test:GraspingConstraint ; - mosim:mmuProperty test:StartInGrasp ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; @@ -5118,14 +6103,11 @@ CONSTRUCT { mosim:value \"true\" . test:GraspingConstraint mosim:key \"GraspingConstraint\" ; - mosim:value \"GraspConstraintR\" . + mosim:value \"GraspConstraint\" . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . - test:StartInGrasp mosim:key \"StartInGrasp\" ; - mosim:value \"true\" . - ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . @@ -5135,14 +6117,21 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:placeing ?mSceneObjectID . + mosim:tighteningTool ?mSceneObjectID . + + mosim:RandomIDs mosim:returnID ?returnID ; + mosim:retrieveID ?retrieveID ; + mosim:graspID ?graspID . + + BIND(CONCAT(?returnID, \":end\") AS ?endCondition) + BIND(CONCAT(?retrieveID, \":AnimateFingers\") AS ?startCondition) ?mSceneObject rdf:type mosim:MSceneObject ; rdfs:label ?mSceneObjectID ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraintR\" ; + mosim:id \"GraspConstraint\" ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator . @@ -5150,8 +6139,79 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b563 a , - ; + + a ; + ; + rdfs:comment ""; + rdfs:label "UnregisterListener_ObjectPlaced" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b626 a ; + ; + """PREFIX rdf: +PREFIX ar: + +DELETE { + ?s ?p ?o . +} +WHERE { + ?s rdf:type ar:Credentials . + ?s ?p ?o . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b627 a ; + ; + """PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +DELETE { + ?agent mosim:retrieving ?object . +} +INSERT { + ?agent mosim:inHand ?object . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:retrieving ?object . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b628 a ; + ; + """PREFIX mosim: +PREFIX rdf: +PREFIX xsd: + +SELECT ((xsd:int(?int) + 3) as ?port) +WHERE { + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . +}""" . + + + a ; + false; + rdfs:comment ""; + rdfs:label "DeleteBoundaries" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b629 a ; + ; + """PREFIX mosim: +PREFIX rdf: +SELECT ?host ?port ?avatarId +WHERE { + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b630 a ; + ; + . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b631 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -5161,20 +6221,27 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Retrieve\" ; - mosim:actionName \"Retrieve03\" ; - mosim:instructionID ?retrieveID ; + mosim:mmu \"Object/Grasp\" ; + mosim:actionName \"Grasp01\" ; mosim:mmuProperty test:Object ; - mosim:mmuProperty test:GraspingPoint ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:KeepClosed ; + mosim:mmuProperty test:GraspingConstraint ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . + mosim:value ?mSceneObjectID . - test:GraspingPoint mosim:key \"GraspingPoint\" ; - mosim:value \"GraspConstraint\" . + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:KeepClosed mosim:key \"KeepClosed\" ; + mosim:value \"true\" . - ?constraint rdf:type mosim:MConstraint ; + test:GraspingConstraint mosim:key \"GraspingConstraint\" ; + mosim:value \"GraspConstraintR\" . + + ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; @@ -5186,48 +6253,74 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . - - mosim:RandomIDs mosim:retrieveID ?retrieveID . + mosim:retrieving ?mSceneObjectID . - ?bounderies rdf:type ; + ?mSceneObject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObjectID ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; + mosim:id \"GraspConstraintR\" ; mosim:object ?object . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?cosim rdf:type mosim:CoSimulator . + ?cosim mosim:host ?host . + ?cosim mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b564 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b632 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . +SELECT ?eventType +WHERE { + VALUES ?eventType {\"ObjectPlaced\"} +}""" . - test:Instruction mosim:mmu \"Object/Screw/Hand\" ; - mosim:actionName \"HandScrew01\" ; - mosim:mmuProperty test:Object ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b633 a ; + ; + """PREFIX mosim: +PREFIX rdf: + +SELECT ?eventType +WHERE { + VALUES ?eventType {\"PositioningFinished\"} +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b634 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: +PREFIX test: + +CONSTRUCT { + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:PositionConstraint ; + mosim:mmuProperty test:ReferenceConstraint ; mosim:constraint ?constraint . - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . + + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . test:Handedness mosim:key \"Handedness\" ; mosim:value \"right\" . - test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value ?insertConnection . + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . @@ -5239,23 +6332,29 @@ CONSTRUCT { WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - + ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertConnection ?insertConnection . + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . + + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) { SELECT ?constraint WHERE { ?agent rdf:type ajan:This ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?insertLocation ; + rdfs:label ?screwObject ; mosim:constraint ?constraint . ?constraint rdf:type mosim:MConstraint ; - mosim:id ?insertConnection . + mosim:id ?tighteningConnection . } LIMIT 1 } @@ -5275,87 +6374,176 @@ WHERE { mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b565 a ; + + a ; + false; + rdfs:comment ""; + rdfs:label "Delete IDs" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b635 a ; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b636; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b637; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b638; + "1.1"; + . + + + a ; + rdfs:label "defaultSequence" . + + + a ; + false; + rdfs:comment ""; + rdfs:label "DeleteBoundaries" . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Create Random IDs" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b638 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b639; + rdf:rest rdf:nil . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b636 a , + ; ; - """PREFIX mosim: + "" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b637 a ; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b640 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b639 a ; + "application/json"; + . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b640 a ; + ; + """PREFIX ar: PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 1) as ?port) +CONSTRUCT { + ar:Message_1 a ar:Message ; + ar:action ar:Action_1 ; + ar:project ar:Project_1 ; + ar:email ar:EMail_1 ; + ar:password ar:Password_1 . + + ar:Action_1 a ar:Action ; + ar:value \"getFileAsJSON\" . + ar:Project_1 a ar:Project ; + ar:value ?project . + ar:File_1 a ar:File ; + ar:value ?path . + ar:EMail_1 a ar:EMail ; + ar:value ?email . + ar:Password_1 a ar:Password ; + ar:value ?password . +} + WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + + ?file ar:path ?path . + { SELECT ?file + WHERE { + ?file ar:path ?path . + FILTER regex(?path, \"^.*(.lp)$\") + MINUS { ?file ar:path \"reasoning_result.lp\" . } + FILTER NOT EXISTS { ?file ar:content ?content . } + } LIMIT 1 } + + ?s rdf:type ar:Credentials ; + ar:project ?project ; + ar:email ?email ; + ar:password ?password . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b566 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b641 a ; ; """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: -SELECT ((xsd:int(?int) + 3) as ?port) +DELETE { + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:returnID ?returnID ; + mosim:graspID ?graspID ; + mosim:screwManualID ?screwManualID . +} WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . + mosim:RandomIDs mosim:retrieveID ?retrieveID ; + mosim:placeID ?placeID ; + mosim:returnID ?returnID ; + mosim:graspID ?graspID ; + mosim:screwManualID ?screwManualID . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b567 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b642 a ; ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + """ASK WHERE {?s ?p ?o} +""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b568 a ; - ; - "" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b643 a ; + """CONSTRUCT WHERE {?s ?p ?o} +"""; + . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b644 a ; + "CONSTRUCT WHERE {?s ?p ?o}"; + . -_:genid-b2c68679b5d6482884489a74810ff72b-b569 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b645 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port ?avatarId +SELECT ?host ?port WHERE { ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . - - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b570 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b646 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?eventType +SELECT ?port WHERE { - VALUES ?eventType {\"AnimateFingers\"} + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b571 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b647 a ; ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port + """PREFIX rdf: +PREFIX mosim: +PREFIX ajan: + +INSERT { + ?agent mosim:history ?history . + + ?history rdf:type mosim:HistoryPoint ; + mosim:date ?date ; + mosim:inserted ?mSceneObject ; + mosim:insertedLocation ?insertLocation ; + mosim:insertedConnection ?insertConnection ; + mosim:executedTask ?task . +} WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + ?agent mosim:inserting ?mSceneObject ; + mosim:insertLocation ?insertLocation ; + mosim:insertConnection ?insertConnection . - - ; - ; - rdfs:label "Retrieve(Object)"; - _:genid-b2c68679b5d6482884489a74810ff72b-b664 . + ?running mosim:runningTask ?task . + + BIND (NOW() AS ?date) + + BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) +}""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b572 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b648 a , + ; ; """PREFIX ajan: PREFIX rdfs: @@ -5364,61 +6552,115 @@ PREFIX rdf: PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:mmu \"Object/Grasp\" ; - mosim:actionName \"Grasp01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:KeepClosed ; - mosim:mmuProperty test:GraspingConstraint ; + test:Instruction mosim:avatarID ?avatarId . + + test:Instruction mosim:mmu \"Object/Screw/Manual\" ; + mosim:actionName \"ScrewManual01\" ; + mosim:instructionID ?screwManualID ; + mosim:startCondition ?startCondition ; + mosim:mmuProperty test:ScrewObject ; + mosim:mmuProperty test:ScrewdriverObject ; + mosim:mmuProperty test:Handedness ; + mosim:mmuProperty test:ReferenceConstraint ; mosim:constraint ?constraint . - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObjectID . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:KeepClosed mosim:key \"KeepClosed\" ; - mosim:value \"true\" . + test:ScrewObject mosim:key \"ScrewObject\" ; + mosim:value ?screwObject . - test:GraspingConstraint mosim:key \"GraspingConstraint\" ; - mosim:value \"GraspConstraintR\" . + test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; + mosim:value ?screwdriverObject . + + test:Handedness mosim:key \"Handedness\" ; + mosim:value \"right\" . + + test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; + mosim:value ?tighteningConnection . ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + mosim:host ?host ; + mosim:port ?port . } WHERE { ?avatar rdf:type mosim:Avatar ; mosim:id ?avatarId . - + ?agent rdf:type ajan:This ; - mosim:retrieving ?mSceneObjectID . + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection ; + mosim:tighteningTool ?screwdriverObject . - ?mSceneObject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObjectID ; - mosim:constraint ?constraint . + mosim:RandomIDs mosim:placeID ?placeID ; + mosim:screwManualID ?screwManualID . + + BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraintR\" ; - mosim:object ?object . + { SELECT ?constraint + WHERE { + ?agent rdf:type ajan:This ; + mosim:tightening ?screwObject ; + mosim:tighteningConnection ?tighteningConnection . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?screwObject ; + mosim:constraint ?constraint . + + ?constraint rdf:type mosim:MConstraint ; + mosim:id ?tighteningConnection . + } LIMIT 1 + } - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + ?constraint rdf:type mosim:MConstraint ; + mosim:object ?object . -_:genid-b2c68679b5d6482884489a74810ff72b-b573 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: + { SELECT ?cosim + WHERE { + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . + } LIMIT 1 + } + + ?cosim rdf:type mosim:CoSimulator ; + mosim:host ?host ; + mosim:port ?port . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b649 a , + ; + ; + """PREFIX rdfs: +PREFIX rdf: +PREFIX ajan: +PREFIX mosim: + +CONSTRUCT { + ?agent mosim:nextLocation ?targetID . +} +WHERE { + ?agent rdf:type ajan:This ; + mosim:positioning ?mSceneObject . + + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObject . + + ?area rdf:type mosim:Area ; + mosim:hasChild ?subject ; + mosim:hasChild ?target . + + ?target rdf:type mosim:WalkTarget ; + rdfs:label ?targetID . +}""" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b650 a , + ; + ; + """PREFIX ajan: +PREFIX rdfs: +PREFIX mosim: +PREFIX rdf: PREFIX test: CONSTRUCT { @@ -5499,88 +6741,16 @@ WHERE { mosim:port ?port . }""" . - - a ; + + a ; + ; ; + true; + rdfs:label "Grasp(Object)"; rdfs:comment ""; - rdfs:label "UnregisterListener_AnimateFingers" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b574 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b575 a ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Screw/Hand\" ; - mosim:actionName \"HandScrew01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:PositionConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value \"Screw_bigAnnotated (1)\" . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value \"Smooth blind hole\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - { SELECT ?constraint - WHERE { - ?subject rdf:type mosim:MSceneObject ; - rdfs:label \"shelf-v1 (1)\" ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"Smooth blind hole\" . - } LIMIT 1 - } - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b698 . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b576 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b651 a ; ; """PREFIX ajan: PREFIX rdfs: @@ -5591,11 +6761,12 @@ PREFIX test: CONSTRUCT { test:Instruction mosim:avatarID ?avatarId ; mosim:mmu \"Object/Grasp\" ; - mosim:actionName \"Grasp01\" ; + mosim:actionName \"Grasp02\" ; mosim:mmuProperty test:Object ; mosim:mmuProperty test:Handedness ; mosim:mmuProperty test:KeepClosed ; mosim:mmuProperty test:GraspingConstraint ; + mosim:mmuProperty test:StartInGrasp ; mosim:constraint ?constraint . test:Object mosim:key \"Object\" ; @@ -5613,6 +6784,9 @@ CONSTRUCT { ?constraint rdf:type mosim:MConstraint ; mosim:object ?object . + test:StartInGrasp mosim:key \"StartInGrasp\" ; + mosim:value \"true\" . + ?cosim rdf:type mosim:CoSimulator ; mosim:host ?host ; mosim:port ?port . @@ -5622,7 +6796,7 @@ WHERE { mosim:id ?avatarId . ?agent rdf:type ajan:This ; - mosim:carrying ?mSceneObjectID . + mosim:placeing ?mSceneObjectID . ?mSceneObject rdf:type mosim:MSceneObject ; rdfs:label ?mSceneObjectID ; @@ -5637,135 +6811,80 @@ WHERE { ?cosim mosim:port ?port . }""" . - - a ; - ; - rdfs:comment ""; - rdfs:label "UnregisterListener_ObjectPlaced" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b652 a ; + ; + "CONSTRUCT WHERE {?s ?o}" . -_:genid-b2c68679b5d6482884489a74810ff72b-b577 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b653 a ; ; """PREFIX mosim: PREFIX rdf: PREFIX xsd: -SELECT ((xsd:int(?int) + 5) as ?port) +SELECT ((xsd:int(?int) + 3) as ?port) WHERE { ?a rdf:type mosim:Avatar . ?a mosim:clPort ?int . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b578 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b654 a , + ; ; - """PREFIX mosim: + """PREFIX rdfs: PREFIX rdf: - -SELECT ?port -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?port . -}""" . - -_:genid-b2c68679b5d6482884489a74810ff72b-b579 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: +PREFIX ajan: PREFIX mosim: -PREFIX rdf: -PREFIX test: CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - - test:Instruction mosim:mmu \"Object/Screw/Hand\" ; - mosim:actionName \"HandScrew01\" ; - mosim:instructionID ?handScrewID ; - mosim:startCondition ?startCondition ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:PositionConstraint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:PositionConstraint mosim:key \"PositionConstraint\" ; - mosim:value ?insertConnection . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . + ?agent mosim:nextLocation ?targetID ; + mosim:carrying ?mSceneObject . } WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - ?agent rdf:type ajan:This ; - mosim:inserting ?mSceneObject ; - mosim:insertConnection ?insertConnection . - - mosim:RandomIDs mosim:retrieveID ?retrieveID ; - mosim:placeID ?placeID ; - mosim:handScrewID ?handScrewID . - - BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) - - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?insertLocation ; - mosim:constraint ?constraint . + mosim:positioning ?mSceneObject . - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?insertConnection . - } LIMIT 1 - } + ?subject rdf:type mosim:MSceneObject ; + rdfs:label ?mSceneObject ; + mosim:finalLocation ?final . + + ?area rdf:type mosim:Area ; + mosim:hasChild ?final ; + mosim:hasChild ?target . + + ?target rdf:type mosim:WalkTarget ; + rdfs:label ?targetID . +}""" . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b655 a ; + ; + """PREFIX ar: - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . +ASK WHERE +{ + ?s ar:path ?path . + FILTER regex(?path, \"^.*(.lp)$\") }""" . - - a ; - false; + + a ; + ; + rdfs:label "GetBoundary(Grasp(Object))"; rdfs:comment ""; - rdfs:label "DeleteBoundaries" . + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b591 . -_:genid-b2c68679b5d6482884489a74810ff72b-b580 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b656 a ; ; """PREFIX mosim: PREFIX rdf: -SELECT ?host ?port +PREFIX xsd: + +SELECT ((xsd:int(?int) + 5) as ?port) WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + ?a rdf:type mosim:Avatar . + ?a mosim:clPort ?int . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b581 a ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b657 a ; ; """PREFIX mosim: PREFIX rdf: @@ -5776,1104 +6895,1384 @@ WHERE { ?cosim mosim:port ?port . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b582 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + + a ; + ; + rdfs:label "GetBoundary(Place(Object))"; + rdfs:comment ""; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b453 . -_:genid-b2c68679b5d6482884489a74810ff72b-b583 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b658 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: + """PREFIX mosim: PREFIX rdf: -PREFIX test: - -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:finalEvent \"PositioningFinished\" ; - mosim:mmu \"Object/Carry\" ; - mosim:actionName \"Carry01\" ; - mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" ; - mosim:value \"shelf-v1 (1)\" . - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} +SELECT ?host ?port ?avatarId WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . - ?cosim rdf:type mosim:CoSimulator . ?cosim mosim:host ?host . ?cosim mosim:port ?port . + + ?avatar rdf:type mosim:Avatar . + ?avatar mosim:id ?avatarId . }""" . -_:genid-b2c68679b5d6482884489a74810ff72b-b584 a , - ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b659 a ; + "CONSTRUCT WHERE { ?s ?p ?o }"; + . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b660 a ; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b661; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b662; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b663; + "1.1"; + . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b663 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b412; + rdf:rest rdf:nil . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b661 a ; ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: + "" . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId ; - mosim:finalEvent \"PositioningFinished\" ; - mosim:mmu \"Object/Carry\" ; - mosim:actionName \"Carry01\" ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:GraspingPoint ; - mosim:constraint ?constraint . - - test:Object mosim:key \"Object\" ; - mosim:value ?mSceneObject . - - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . - - test:GraspingPoint mosim:key \"GraspingPoint\" ; - mosim:value \"GraspConstraintR\" . - - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b662 a ; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b413 . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b664 . - ?agent rdf:type ajan:This ; - mosim:carrying ?mSceneObject . - - ?bounderies rdf:type ; - mosim:constraint ?constraint . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b664 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b665 . - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraintR\" ; - mosim:object ?object . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b665 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b666 . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b666 rdf:first ; + rdf:rest rdf:nil . - - a ; - false; - rdfs:comment ""; - rdfs:label "Delete IDs" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b667 . -_:genid-b2c68679b5d6482884489a74810ff72b-b585 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b667 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b668 . -SELECT ((xsd:int(?int) + 1) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b668 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b669 . -_:genid-b2c68679b5d6482884489a74810ff72b-b586 a , - ; - ; - """PREFIX ajan: -PREFIX rdf: -PREFIX mosim: +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b669 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b670 . -CONSTRUCT { - ?agent mosim:inserting ?mSceneObject ; - mosim:insertLocation ?insertLocation ; - mosim:insertConnection ?insertConnection . -} -WHERE { - ?agent rdf:type ajan:This . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b670 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b671 . - ?running mosim:runningOperation ?operation . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b671 rdf:first ; + rdf:rest rdf:nil . - ?operation rdf:type mosim:Operation ; - mosim:part ?part ; - mosim:basePart ?basePart ; - mosim:baseMarker ?insertConnection . - - ?instance1 rdf:type mosim:Instance ; - mosim:instanceId ?part ; - mosim:type ?mSceneObject . - - ?instance2 rdf:type mosim:Instance ; - mosim:instanceId ?basePart ; - mosim:type ?insertLocation . -}""" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b573; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b572; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b672; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b611 . - - a ; - false; - rdfs:comment ""; - rdfs:label "DeleteBoundaries" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b672 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b527; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b673 . - - a ; - false; - rdfs:comment ""; - rdfs:label "Create Random IDs" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b673 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b607; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b674 . -_:genid-b2c68679b5d6482884489a74810ff72b-b587 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b674 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b592; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b675 . -_:genid-b2c68679b5d6482884489a74810ff72b-b588 a ; - ; - """DELETE { - ?s ?p ?o . -} -WHERE { - ?s ?p ?o . - ?s a . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b675 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b630; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b676 . -_:genid-b2c68679b5d6482884489a74810ff72b-b589 a ; - ; - """PREFIX mosim: -PREFIX rdf: + + a ; + rdfs:label "defaultSequence" . -SELECT ?eventType -WHERE { - VALUES ?eventType {\"ObjectPlaced\"} -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b676 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b598; + rdf:rest rdf:nil . -_:genid-b2c68679b5d6482884489a74810ff72b-b590 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b408; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b652; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b677; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b601 . -SELECT ((xsd:int(?int) + 3) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b677 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b423; + rdf:rest rdf:nil . -_:genid-b2c68679b5d6482884489a74810ff72b-b591 a ; - ; - """ASK WHERE {?s ?p ?o} -""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b678 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b565; + rdf:rest rdf:nil . -_:genid-b2c68679b5d6482884489a74810ff72b-b592 a , - ; - ; - """PREFIX ajan: -PREFIX rdf: -PREFIX mosim: +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b679 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b634; + rdf:rest rdf:nil . -CONSTRUCT { - ?agent mosim:positioning ?mSceneObject . -} -WHERE { - ?agent rdf:type ajan:This . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b680 . - ?running mosim:runningOperation ?operation . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b680 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b430; + rdf:rest rdf:nil . - ?operation rdf:type mosim:Operation ; - mosim:part ?part . - - ?instance rdf:type mosim:Instance ; - mosim:instanceId ?part ; - mosim:type ?mSceneObject . -}""" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b681 . -_:genid-b2c68679b5d6482884489a74810ff72b-b593 a , - ; - ; - """PREFIX rdfs: -PREFIX rdf: -PREFIX ajan: -PREFIX mosim: +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b681 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b464; + rdf:rest rdf:nil . -CONSTRUCT { - ?agent mosim:nextLocation ?targetID . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?mSceneObject . - - ?area rdf:type mosim:Area ; - mosim:hasChild ?subject ; - mosim:hasChild ?target . - - ?target rdf:type mosim:WalkTarget ; - rdfs:label ?targetID . -}""" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b682 . -_:genid-b2c68679b5d6482884489a74810ff72b-b594 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b682 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b503; + rdf:rest rdf:nil . -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b683 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b523; + rdf:rest rdf:nil . -_:genid-b2c68679b5d6482884489a74810ff72b-b595 a ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b684 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b555; + rdf:rest rdf:nil . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b685 . - test:Instruction mosim:mmu \"Object/Place\" ; - mosim:actionName \"Place03\" ; - mosim:instructionID ?placeID ; - mosim:mmuProperty test:Object ; - mosim:mmuProperty test:Release ; - mosim:mmuProperty test:TargetConstraint ; - mosim:mmuProperty test:GraspingPoint ; - mosim:constraint ?constraint_1 ; - mosim:constraint ?constraint_2 . - - test:Object mosim:key \"Object\" ; - mosim:value ?screwdriverObject . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b685 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b603; + rdf:rest rdf:nil . - test:Release mosim:key \"Release\" ; - mosim:value \"false\" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b686 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b418; + rdf:rest rdf:nil . - test:TargetConstraint mosim:key \"TargetConstraint\" ; - mosim:value ?bound_id . + + a ; + rdfs:comment ""; + rdfs:label "defaultSequence" . - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:object ?object_1 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b687 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b421; + rdf:rest rdf:nil . - test:GraspingPoint mosim:key \"GraspingPoint\" ; - mosim:value \"GraspConstraint\" . - - ?constraint_2 rdf:type mosim:MConstraint ; - mosim:object ?object_2 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b688 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b436; + rdf:rest rdf:nil . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b689 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b506; + rdf:rest rdf:nil . - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningTool ?screwdriverObject . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b690 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b593; + rdf:rest rdf:nil . - ?bounderies_1 rdf:type ; - mosim:constraint ?constraint_1 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b691 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b505; + rdf:rest rdf:nil . - ?constraint_1 rdf:type mosim:MConstraint ; - mosim:id ?bound_id ; - mosim:object ?object_1 . - - FILTER (?bound_id != \"GraspConstraint\") - - ?bounderies_2 rdf:type ; - mosim:constraint ?constraint_2 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b692 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b622; + rdf:rest rdf:nil . - ?constraint rdf:type mosim:MConstraint ; - mosim:id \"GraspConstraint\" ; - mosim:object ?object_2 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b693 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b490; + rdf:rest rdf:nil . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b694 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b484; + rdf:rest rdf:nil . -_:genid-b2c68679b5d6482884489a74810ff72b-b596 a ; - ; - """PREFIX rdf: -PREFIX ajan: -PREFIX mosim: + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b695 . -DELETE { - ?agent mosim:location ?target ; - mosim:nextLocation ?newTarget ; - mosim:carrying ?object . -} -INSERT { - ?agent mosim:location ?newTarget . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:location ?target ; - mosim:nextLocation ?newTarget; - mosim:carrying ?object . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b695 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b567; + rdf:rest rdf:nil . -_:genid-b2c68679b5d6482884489a74810ff72b-b597 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b696 . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b696 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b556; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b697 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b697 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b609; + rdf:rest rdf:nil . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Clear ASPInputs" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b698 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b625; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b699 . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Clear asRules" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b699 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b541; + rdf:rest rdf:nil . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b700 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b515; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b701 . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Delete IDs" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b701 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b483; + rdf:rest rdf:nil . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Clear KB" . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b702 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b702 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b518; + rdf:rest rdf:nil . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Clear Credentials" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b703 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b441; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b704 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b704 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b526; + rdf:rest rdf:nil . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Clear StableModels" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b705 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b600; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b706 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b706 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b558; + rdf:rest rdf:nil . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Clear RuleSets" . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b707 . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Delete IDs" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b707 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b594; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b708 . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Clear JSON2ASPmodel" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b708 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b425; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b709 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b709 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b481; + rdf:rest rdf:nil . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Create Random IDs" . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Free KB" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b710 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b585; + rdf:rest rdf:nil . + + + a ; + false; + rdfs:comment ""; + rdfs:label "Create Random IDs" . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b711 . + + + a ; + rdfs:comment ""; + rdfs:label "Save2_Knowledge" . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b711 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b650; + rdf:rest rdf:nil . + + + a ; + rdfs:comment ""; + rdfs:label "Save2_Knowledge" . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b712 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b712 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b648; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b713 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b713 rdf:first _:genid-af1a94b8e18f42bf9e53d639dd3af875-b428; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b583 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b655 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b619 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b623 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b606 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b533 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b508 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b452, + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b580 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b522, + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b497 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b628 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b656 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b472 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b447, + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b532 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b415 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b576 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b584 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b566 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b646 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b613 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b714 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b715 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b715 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b716 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b716 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b717 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b717 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b718 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b718 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b719 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b719 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b624 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b437 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b411 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b577 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b587 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b495 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b631 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b620 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b651 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b479, + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b571 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b659 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b610 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b595 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b458 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b589 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b643 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b462 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b564 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b486 . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b720 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b720 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b721 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b721 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b722 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b722 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b723 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b723 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b724 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b724 rdf:first ; + rdf:rest rdf:nil . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b725 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b726 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b726 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b727 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b727 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b728 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b728 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b729 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b729 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b730 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b730 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b731 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b731 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b732 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b732 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b733 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b733 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b734 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b734 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b735 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b735 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b736 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b736 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b737 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b737 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b738 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b738 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b739 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b739 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b740 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b740 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b741 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b741 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b742 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b742 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b743 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b743 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b744 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b744 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b745 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b745 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b746 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b746 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b747 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b747 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b748 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b748 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b749 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b749 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b750 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b750 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b751 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b751 rdf:first ; + rdf:rest rdf:nil . -_:genid-b2c68679b5d6482884489a74810ff72b-b598 a ; - ; - """PREFIX ajan: -PREFIX rdf: -PREFIX test: -PREFIX mosim: + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b752 . -INSERT { - ?agent mosim:runningTask test:Task . - ?agent mosim:runningOperation test:Operation . - test:Task mosim:step -1 . - test:Task a mosim:Task . - test:Task mosim:operation test:Operation . - - test:Operation mosim:step -1 . - test:Operation a mosim:Operation . - - ?agent mosim:hand \"Right\" . - ?agent mosim:location \"material_station_target\" . -} -WHERE { - ?agent rdf:type ajan:This . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b752 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b753 . -_:genid-b2c68679b5d6482884489a74810ff72b-b599 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b753 rdf:first ; + rdf:rest rdf:nil . -_:genid-b2c68679b5d6482884489a74810ff72b-b600 a ; - "CONSTRUCT WHERE {?s ?p ?o}"; - . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b754 . -_:genid-b2c68679b5d6482884489a74810ff72b-b601 a , - ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b754 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b755 . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b755 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b756 . - test:Instruction mosim:mmu \"Object/Screw/Manual\" ; - mosim:actionName \"ScrewManual01\" ; - mosim:instructionID ?screwManualID ; - mosim:startCondition ?startCondition ; - mosim:mmuProperty test:ScrewObject ; - mosim:mmuProperty test:ScrewdriverObject ; - mosim:mmuProperty test:Handedness ; - mosim:mmuProperty test:ReferenceConstraint ; - mosim:constraint ?constraint . - - test:ScrewObject mosim:key \"ScrewObject\" ; - mosim:value ?screwObject . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b756 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b757 . - test:ScrewdriverObject mosim:key \"ScrewdriverObject\" ; - mosim:value ?screwdriverObject . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b757 rdf:first ; + rdf:rest rdf:nil . - test:Handedness mosim:key \"Handedness\" ; - mosim:value \"right\" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b758 . - test:ReferenceConstraint mosim:key \"ReferenceConstraint\" ; - mosim:value ?tighteningConnection . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b758 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b759 . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b759 rdf:first ; + rdf:rest rdf:nil . - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar ; - mosim:id ?avatarId . - - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection ; - mosim:tighteningTool ?screwdriverObject . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b760 . - mosim:RandomIDs mosim:placeID ?placeID ; - mosim:screwManualID ?screwManualID . - - BIND(CONCAT(?placeID, \":ObjectPlaced\") AS ?startCondition) +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b760 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b761 . - { SELECT ?constraint - WHERE { - ?agent rdf:type ajan:This ; - mosim:tightening ?screwObject ; - mosim:tighteningConnection ?tighteningConnection . - - ?subject rdf:type mosim:MSceneObject ; - rdfs:label ?screwObject ; - mosim:constraint ?constraint . - - ?constraint rdf:type mosim:MConstraint ; - mosim:id ?tighteningConnection . - } LIMIT 1 - } +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b761 rdf:first ; + rdf:rest rdf:nil . - ?constraint rdf:type mosim:MConstraint ; - mosim:object ?object . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b762 . - { SELECT ?cosim - WHERE { - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . - } LIMIT 1 - } - - ?cosim rdf:type mosim:CoSimulator ; - mosim:host ?host ; - mosim:port ?port . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b762 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b763 . - - a ; - ; - ; - true; - rdfs:label "Grasp(Object)"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b669 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b763 rdf:first ; + rdf:rest rdf:nil . -_:genid-b2c68679b5d6482884489a74810ff72b-b602 a , - ; - ; - "{\"id\":\"Idle Instruction\",\"title\":\"Idle Instruction\",\"description\":\"\",\"nodes\":[\"Action\"],\"targetBase\":\"http://www.ajan.de/ajan-ns#AgentKnowledge\",\"query\":\"\",\"queryVariables\":\"cosim,host,port\",\"parameters\":[]}"; - """PREFIX mosim: -PREFIX rdf: -PREFIX test: + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b764 . -CONSTRUCT { - test:Instruction mosim:mmu \"Pose/Idle\" . - test:Instruction mosim:actionName \"Idle\" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b764 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b765 . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -} -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}"""; - """PREFIX mosim: -PREFIX rdf: -PREFIX test: +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b765 rdf:first ; + rdf:rest rdf:nil . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . - test:Instruction mosim:mmu \"Pose/Idle\" . - test:Instruction mosim:actionName \"Idle\" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b766 . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b766 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b767 . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b767 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b768 . -_:genid-b2c68679b5d6482884489a74810ff72b-b603 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b768 rdf:first ; + rdf:rest rdf:nil . -_:genid-b2c68679b5d6482884489a74810ff72b-b604 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port ?avatarId -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b442 . - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . -}""" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b654 . -_:genid-b2c68679b5d6482884489a74810ff72b-b605 a ; - ; - """PREFIX rdf: -PREFIX mosim: -PREFIX ajan: + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b563 . -INSERT { - ?agent mosim:history ?history . - - ?history rdf:type mosim:HistoryPoint ; - mosim:date ?date ; - mosim:positioned ?mSceneObject ; - mosim:executedTask ?task . -} -WHERE { - ?agent rdf:type ajan:This ; - mosim:positioning ?mSceneObject . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b470 . - ?running mosim:runningTask ?task . - - BIND (NOW() AS ?date) - - BIND (IRI(CONCAT(\"http://www.dfki.de/mosim-ns#\", MD5(STR(?date)))) AS ?history) -}""" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b517 . - - a ; - ; - rdfs:label "GetBoundary(Grasp(Object))"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b541 . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b431 . -_:genid-b2c68679b5d6482884489a74810ff72b-b606 a ; - ; - """PREFIX mosim: -PREFIX rdf: + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b649 . -SELECT ?eventType -WHERE { - VALUES ?eventType {\"cycleEnd\"} -}""" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b435 . -_:genid-b2c68679b5d6482884489a74810ff72b-b607 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b494 . -SELECT ((xsd:int(?int) + 2) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b429; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b463; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b561 . - - a ; - ; - rdfs:label "GetBoundary(Place(Object))"; - rdfs:comment ""; - _:genid-b2c68679b5d6482884489a74810ff72b-b595 . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b449; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b482; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b608 . -_:genid-b2c68679b5d6482884489a74810ff72b-b608 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?scene rdf:type mosim:Registry . - ?scene mosim:host ?host . - ?scene mosim:port ?port . -}""" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b502; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b629; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b498 . -_:genid-b2c68679b5d6482884489a74810ff72b-b609 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b544; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b560; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b632 . -_:genid-b2c68679b5d6482884489a74810ff72b-b610 a ; - ; - """PREFIX mosim: -PREFIX rdf: -PREFIX xsd: + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b469; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b553; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b539 . -SELECT ((xsd:int(?int) + 5) as ?port) -WHERE { - ?a rdf:type mosim:Avatar . - ?a mosim:clPort ?int . -}""" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b414; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b551; + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b471 . -_:genid-b2c68679b5d6482884489a74810ff72b-b611 a ; - ; - """PREFIX mosim: -PREFIX rdf: -SELECT ?host ?port -WHERE { - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b460 . -_:genid-b2c68679b5d6482884489a74810ff72b-b612 a ; - ; - """PREFIX ajan: -PREFIX rdfs: -PREFIX mosim: -PREFIX rdf: -PREFIX test: + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b537 . -CONSTRUCT { - test:Instruction mosim:avatarID ?avatarId . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b769 . - test:Instruction mosim:mmu \"Object/Carry\" . - test:Instruction mosim:actionName \"Carry01\" . - test:Instruction mosim:mmuProperty test:Object . - - test:Object mosim:key \"Object\" . - test:Object mosim:value \"shelf-v1 (1)\" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b769 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b770 . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -} -WHERE { - ?avatar rdf:type mosim:Avatar . - ?avatar mosim:id ?avatarId . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b770 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b771 . - ?cosim rdf:type mosim:CoSimulator . - ?cosim mosim:host ?host . - ?cosim mosim:port ?port . -}""" . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b771 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b772 . - - _:genid-b2c68679b5d6482884489a74810ff72b-b634 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b772 rdf:first ; + rdf:rest rdf:nil . + + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b773 . -_:genid-b2c68679b5d6482884489a74810ff72b-b634 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b635 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b773 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b774 . -_:genid-b2c68679b5d6482884489a74810ff72b-b635 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b636 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b774 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b775 . -_:genid-b2c68679b5d6482884489a74810ff72b-b636 rdf:first ; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b775 rdf:first ; rdf:rest rdf:nil . - - _:genid-b2c68679b5d6482884489a74810ff72b-b639 . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b776 . -_:genid-b2c68679b5d6482884489a74810ff72b-b639 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b640 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b776 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b777 . -_:genid-b2c68679b5d6482884489a74810ff72b-b640 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b641 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b777 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b778 . -_:genid-b2c68679b5d6482884489a74810ff72b-b641 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b642 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b778 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b779 . -_:genid-b2c68679b5d6482884489a74810ff72b-b642 rdf:first ; - rdf:rest _:genid-b2c68679b5d6482884489a74810ff72b-b643 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b779 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b780 . -_:genid-b2c68679b5d6482884489a74810ff72b-b643 rdf:first ; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b780 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b781 . -_:genid-b2c68679b5d6482884489a74810ff72b-b650 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b421; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b781 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b782 . -_:genid-b2c68679b5d6482884489a74810ff72b-b651 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b431; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b782 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b783 . + +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b783 rdf:first ; rdf:rest rdf:nil . - - _:genid-b2c68679b5d6482884489a74810ff72b-b652 . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b784 . -_:genid-b2c68679b5d6482884489a74810ff72b-b652 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b424; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b784 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b785 . - - _:genid-b2c68679b5d6482884489a74810ff72b-b653 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b785 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b786 . -_:genid-b2c68679b5d6482884489a74810ff72b-b653 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b481; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b786 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b787 . -_:genid-b2c68679b5d6482884489a74810ff72b-b654 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b483; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b787 rdf:first ; rdf:rest rdf:nil . -_:genid-b2c68679b5d6482884489a74810ff72b-b655 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b579; - rdf:rest rdf:nil . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b788 . - - _:genid-b2c68679b5d6482884489a74810ff72b-b656 . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b788 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b789 . -_:genid-b2c68679b5d6482884489a74810ff72b-b656 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b543; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b789 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b790 . -_:genid-b2c68679b5d6482884489a74810ff72b-b657 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b584; +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b790 rdf:first ; rdf:rest rdf:nil . -_:genid-b2c68679b5d6482884489a74810ff72b-b658 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b602; - rdf:rest rdf:nil . + + _:genid-af1a94b8e18f42bf9e53d639dd3af875-b791 . -_:genid-b2c68679b5d6482884489a74810ff72b-b659 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b542; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b791 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b792 . -_:genid-b2c68679b5d6482884489a74810ff72b-b660 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b531; - rdf:rest rdf:nil . +_:genid-af1a94b8e18f42bf9e53d639dd3af875-b792 rdf:first ; + rdf:rest _:genid-af1a94b8e18f42bf9e53d639dd3af875-b793 . -_:genid-b2c68679b5d6482884489a74810ff72b-b661 rdf:first _:genid-b2c68679b5d6482884489a74810ff72b-b471; 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