finger grasping

https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping

as defined in Capability Model ontology

version info
0.0.7
imports
title
Capability Model ontology
description
Capability Model (CM) is defining capabilities for production resources. This model will be extended by adding more capabilities and their parameters, i.e. extending the capability catalogue.
comment
Capability Model (CM) is defining capabilities for production resources. This model will be extended by adding more capabilities and their parameters, i.e. extending the capability catalogue.
creator
Eeva Järvenpää
contributor
Eeva Järvenpää
Niko Siltala
Otto Hylli
date
2018-03-18
rights
This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License (CC BY-SA 4.0). To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/
language
en
Other visualisation
WebVOWL Source
Export entity
Turtle RDF/XML JSON-LD N-Triples

finger grasping
c

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping

comment
Capability to grasp items with fingers. For example finger gripper (with attached fingers) has this capability.
is disjoint with
blind rivetingc,
bulk box feedingc,
impact rivetingc,
insertingc,
mounting flexible ring externalc,
orbital rivetingc,
placingc,
radial rivetingc,
thread runningc,
transporting collaborativec,
ogiva toolset functionc,
pick and placec,
drillingc,
millingc,
pickingc,
pressingc,
screwingc,
transport feedingc,
tray feedingc,
tube feedingc,
milling tool functionc,
transportingc,
vacuum graspingc,
drill bit functionc,
finger functionc,
finger gripper functionc,
fixturingc,
force applyingc,
holding by gravityc,
milling cutter functionc,
movingc,
orienting mechanicalc,
part storing in trayc,
part storing in tubec,
positioning mechanicalc,
press tool functionc,
releasingc,
screwing head functionc,
spinning toolc,
tool holdingc,
tray holdingc,
tube feeder base functionc,
vacuum cup functionc,
vacuum gripper functionc,
moving collaborativec,
moving toolc
is sub class of
grasping typedp
min 1
thingc
has allowed item shape and size maxop
max 4
thingc
finger numberdp
exactly 1
thingc
finger typedp
max 2
thingc
position controldp
exactly 1
thingc
has allowed item shape and size minop
max 4
thingc
repeatabilitydp
exactly 1
thingc
finger typedp
min 1
thingc
finger opening time mindp
exactly 1
thingc
finger opening mindp
exactly 1
thingc
grasping force mindp
exactly 1
thingc
gripper typedp
exactly 1
thingc
grasping force maxdp
exactly 1
thingc
finger opening maxdp
exactly 1
thingc
has input capabilityop
some
finger gripper functionc
force controldp
exactly 1
thingc
payloaddp
exactly 1
thingc
grasping typedp
max 2
thingc
finger closing time mindp
exactly 1
thingc
has input capabilityop
some
finger functionc
accuracydp
exactly 1
thingc
combined capabilityc,
finger graspingc

@prefix : <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#> .
@prefix owl: <http://www.w3.org/2002/07/owl#> .
@prefix pt: <https://resourcedescription.rd.tuni.fi/ontology/processTaxonomyModel#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> {
    :FingerGrasping a owl:Class ;
        rdfs:comment """Capability to grasp items with fingers.
For example finger gripper (with attached fingers) has this capability."""^^xsd:string ;
        rdfs:subClassOf _:n227d45e58e3d497294a1b036d01eb2d9b770,
            _:n227d45e58e3d497294a1b036d01eb2d9b771,
            _:n227d45e58e3d497294a1b036d01eb2d9b772,
            _:n227d45e58e3d497294a1b036d01eb2d9b773,
            _:n227d45e58e3d497294a1b036d01eb2d9b774,
            _:n227d45e58e3d497294a1b036d01eb2d9b775,
            _:n227d45e58e3d497294a1b036d01eb2d9b776,
            _:n227d45e58e3d497294a1b036d01eb2d9b777,
            _:n227d45e58e3d497294a1b036d01eb2d9b778,
            _:n227d45e58e3d497294a1b036d01eb2d9b779,
            _:n227d45e58e3d497294a1b036d01eb2d9b780,
            _:n227d45e58e3d497294a1b036d01eb2d9b781,
            _:n227d45e58e3d497294a1b036d01eb2d9b782,
            _:n227d45e58e3d497294a1b036d01eb2d9b783,
            _:n227d45e58e3d497294a1b036d01eb2d9b784,
            _:n227d45e58e3d497294a1b036d01eb2d9b785,
            _:n227d45e58e3d497294a1b036d01eb2d9b786,
            _:n227d45e58e3d497294a1b036d01eb2d9b787,
            _:n227d45e58e3d497294a1b036d01eb2d9b788,
            _:n227d45e58e3d497294a1b036d01eb2d9b789,
            _:n227d45e58e3d497294a1b036d01eb2d9b790,
            :CombinedCapability,
            pt:FingerGrasping ;
        owl:disjointWith :BlindRiveting,
            :BulkBoxFeeding,
            :DrillBitFunction,
            :Drilling,
            :FingerFunction,
            :FingerGripperFunction,
            :Fixturing,
            :ForceApplying,
            :HoldingByGravity,
            :ImpactRiveting,
            :Inserting,
            :Milling,
            :MillingCutterFunction,
            :MillingToolFunction,
            :MountingFlexibleRingExternal,
            :Moving,
            :OgivaToolsetFunction,
            :OrbitalRiveting,
            :OrientingMechanical,
            :PartStoringInTray,
            :PartStoringInTube,
            :PickAndPlace,
            :Picking,
            :Placing,
            :PositioningMechanical,
            :PressToolFunction,
            :Pressing,
            :RadialRiveting,
            :Releasing,
            :Screwing,
            :ScrewingHeadFunction,
            :SpinningTool,
            :ThreadRunning,
            :ToolHolding,
            :TransportFeeding,
            :Transporting,
            :TransportingCollaborative,
            :TrayFeeding,
            :TrayHolding,
            :TubeFeederBaseFunction,
            :TubeFeeding,
            :VacuumCupFunction,
            :VacuumGrasping,
            :VacuumGripperFunction .

    _:n227d45e58e3d497294a1b036d01eb2d9b770 a owl:Restriction ;
        owl:minCardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :graspingType .

    _:n227d45e58e3d497294a1b036d01eb2d9b771 a owl:Restriction ;
        owl:maxCardinality "4"^^xsd:int ;
        owl:onProperty :hasAllowedItemShapeAndSize_max .

    _:n227d45e58e3d497294a1b036d01eb2d9b772 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :fingerNumber .

    _:n227d45e58e3d497294a1b036d01eb2d9b773 a owl:Restriction ;
        owl:maxCardinality "2"^^xsd:int ;
        owl:onProperty :fingerType .

    _:n227d45e58e3d497294a1b036d01eb2d9b774 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :positionControl .

    _:n227d45e58e3d497294a1b036d01eb2d9b775 a owl:Restriction ;
        owl:maxCardinality "4"^^xsd:int ;
        owl:onProperty :hasAllowedItemShapeAndSize_min .

    _:n227d45e58e3d497294a1b036d01eb2d9b776 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :repeatability .

    _:n227d45e58e3d497294a1b036d01eb2d9b777 a owl:Restriction ;
        owl:minCardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :fingerType .

    _:n227d45e58e3d497294a1b036d01eb2d9b778 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :fingerOpeningTime_min .

    _:n227d45e58e3d497294a1b036d01eb2d9b779 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :fingerOpening_min .

    _:n227d45e58e3d497294a1b036d01eb2d9b780 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :graspingForce_min .

    _:n227d45e58e3d497294a1b036d01eb2d9b781 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :gripperType .

    _:n227d45e58e3d497294a1b036d01eb2d9b782 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :graspingForce_max .

    _:n227d45e58e3d497294a1b036d01eb2d9b783 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :fingerOpening_max .

    _:n227d45e58e3d497294a1b036d01eb2d9b784 a owl:Restriction ;
        owl:onProperty :hasInputCapability ;
        owl:someValuesFrom :FingerGripperFunction .

    _:n227d45e58e3d497294a1b036d01eb2d9b785 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :forceControl .

    _:n227d45e58e3d497294a1b036d01eb2d9b786 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :payload .

    _:n227d45e58e3d497294a1b036d01eb2d9b787 a owl:Restriction ;
        owl:maxCardinality "2"^^xsd:int ;
        owl:onProperty :graspingType .

    _:n227d45e58e3d497294a1b036d01eb2d9b788 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :fingerClosingTime_min .

    _:n227d45e58e3d497294a1b036d01eb2d9b789 a owl:Restriction ;
        owl:onProperty :hasInputCapability ;
        owl:someValuesFrom :FingerFunction .

    _:n227d45e58e3d497294a1b036d01eb2d9b790 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :accuracy .
}


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        ],
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            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerNumber"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b788",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#nonNegativeInteger",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerClosingTime_min"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b770",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#minCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#nonNegativeInteger",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingType"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b771",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#maxCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "4"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_max"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b773",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#maxCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "2"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerType"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b790",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#nonNegativeInteger",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#accuracy"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b778",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#nonNegativeInteger",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerOpeningTime_min"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b774",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#nonNegativeInteger",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#positionControl"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b776",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#nonNegativeInteger",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#repeatability"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b787",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#maxCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "2"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingType"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b783",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerOpening_max"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b786",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#nonNegativeInteger",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#payload"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b784",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability"
          }
        ],
        "http://www.w3.org/2002/07/owl#someValuesFrom": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b785",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#nonNegativeInteger",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#forceControl"
          }
        ]
      },
      {
        "@id": "_:n227d45e58e3d497294a1b036d01eb2d9b781",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#gripperType"
          }
        ]
      }
    ],
    "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel"
  }
]
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b789 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b777 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b772 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BulkBoxFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b777 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b773 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b775 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrbitalRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b772 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerNumber> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CombinedCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b785 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayHolding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#DrillBitFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b780 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b788 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerClosingTime_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b773 <http://www.w3.org/2002/07/owl#maxCardinality> "2"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b773 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerType> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Drilling> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b779 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b782 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b782 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b786 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#comment> "Capability to grasp items with fingers.\nFor example finger gripper (with attached fingers) has this capability."^^<http://www.w3.org/2001/XMLSchema#string> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b770 <http://www.w3.org/2002/07/owl#minCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b780 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b780 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingForce_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Inserting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b784 <http://www.w3.org/2002/07/owl#someValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b774 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#positionControl> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b779 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b788 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b778 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b783 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerOpening_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b772 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SpinningTool> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTube> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b776 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ScrewingHeadFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pressing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b770 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b775 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b788 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ForceApplying> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b790 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OgivaToolsetFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RadialRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b783 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b770 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingType> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BlindRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b771 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b782 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingForce_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b786 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#payload> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b787 <http://www.w3.org/2002/07/owl#maxCardinality> "2"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MountingFlexibleRingExternal> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrientingMechanical> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b789 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b774 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b778 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerOpeningTime_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b770 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b776 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#repeatability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b771 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PositioningMechanical> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b781 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b773 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b784 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b771 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b786 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingCutterFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b788 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b790 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b778 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b785 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#forceControl> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b789 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b777 <http://www.w3.org/2002/07/owl#minCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Releasing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b778 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeederBaseFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b774 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Picking> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b784 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b779 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b772 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b776 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b781 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b781 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#gripperType> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b790 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b787 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingType> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/processTaxonomyModel#FingerGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b785 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Class> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTray> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b780 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b787 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Placing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PressToolFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ToolHolding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b783 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b775 <http://www.w3.org/2002/07/owl#maxCardinality> "4"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b782 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b779 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerOpening_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b774 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b790 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#accuracy> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b789 <http://www.w3.org/2002/07/owl#someValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b777 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerType> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b783 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Fixturing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b786 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b784 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b776 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b787 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b785 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ThreadRunning> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b775 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n227d45e58e3d497294a1b036d01eb2d9b781 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n227d45e58e3d497294a1b036d01eb2d9b771 <http://www.w3.org/2002/07/owl#maxCardinality> "4"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ImpactRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HoldingByGravity> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
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