def get_body_parts_used(self):
body_parts_used = self._get_property_(BODY_PARTS_USED)
if body_parts_used:
return get_suffix_of_uri(body_parts_used)
elif self._equated_action:
body_parts_used = self._equated_action.get_body_parts_used()
return body_parts_used
def _init_object_map(self):
result = {}
query = "ask(instance_of(R,'{}')).".format(
get_dul_uri(DESIGNED_ARTIFACT))
solutions = self._graph_.send_query(query)
for solution in solutions:
object_uri = solution.get('R')
object_id = get_suffix_of_uri(object_uri)
object_type = self._get_object_type(object_id)
result[object_uri] = object_type
return result
def get_object_acted_on(self):
query = "ask(triple(dul:'{}',dul:'hasParticipant',Object))".format(
self.get_id())
solution = self._graph_.send_query(query)
object_acted_on = None
if solution:
object_acted_on = get_suffix_of_uri(solution.get('Object'))
elif self.get_type() == 'Accessing' or self.get_type() == 'Sealing':
results = self._graph_.send_query(
"findall(O,ask(triple(dul:'{}',rdfs:'comment', O)),R).".format(
self.get_id()))
for result in results.get('R'):
comment = result
search_result = re.search("\(URDF-NAME(.+)\)", comment)
if search_result:
object_acted_on = search_result.groups()[0]
break
return object_acted_on
def get_grasp(self):
if self.grasp_uri:
#http://www.ease-crc.org/ont/EASE.owl#FrontGrasp_TUYVDNPS
return get_suffix_of_uri(self.grasp_uri).split('Grasp_')[0]
return ''
def get_parent_action(self):
if self.parent:
return get_suffix_of_uri(self.parent.context.action_uri)
return ''
def get_type(self):
# http://knowrob.org/kb/knowrob.owl#PuttingDownAnObject_HLOUBZDW
return get_suffix_of_uri(self.context.type_uri).split('_')[0]
def get_failure(self):
return get_suffix_of_uri(self.failure)
def get_id(self):
return get_suffix_of_uri(self.context.action_uri)