pick and place

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

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

pick and place
c

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

comment
Capability to pick items and to place them into another location.
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,
drill bit functionc,
drillingc,
finger functionc,
finger graspingc,
finger gripper functionc,
fixturingc,
force applyingc,
holding by gravityc,
millingc,
milling cutter functionc,
milling tool functionc,
movingc,
orienting mechanicalc,
part storing in trayc,
part storing in tubec,
pickingc,
positioning mechanicalc,
press tool functionc,
pressingc,
releasingc,
screwingc,
screwing head functionc,
spinning toolc,
tool holdingc,
transport feedingc,
transportingc,
tray feedingc,
tray holdingc,
tube feeder base functionc,
tube feedingc,
vacuum cup functionc,
vacuum graspingc,
vacuum gripper functionc
is sub class of
repeatabilitydp
exactly 1
thingc
dofdp
min 1
thingc
has workspace type and dimensionsop
only
workspacec
has workspace type and dimensionsop
exactly 1
thingc
has input capabilityop
some
movingc
has input capabilityop
some
releasingc
dofdp
max 6
thingc
has item size maxop
max 1
thingc
has allowed item shape and size maxop
min 0
thingc
has item size minop
max 1
thingc
payloaddp
exactly 1
thingc
has input capabilityop
some (
finger graspingc
or
vacuum graspingc
or
magnetic graspingc
or
expansion graspingc
)
has allowed item shape and size minop
min 0
thingc
accuracydp
exactly 1
thingc
combined capabilityc,
pick and placec

@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 rdf: <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@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> {
    :PickAndPlace a owl:Class ;
        rdfs:comment "Capability to pick items and to place them into another location."^^xsd:string ;
        rdfs:subClassOf _:n8ef2c2ad4229409ab666a136c41862dfb464,
            _:n8ef2c2ad4229409ab666a136c41862dfb465,
            _:n8ef2c2ad4229409ab666a136c41862dfb466,
            _:n8ef2c2ad4229409ab666a136c41862dfb467,
            _:n8ef2c2ad4229409ab666a136c41862dfb468,
            _:n8ef2c2ad4229409ab666a136c41862dfb469,
            _:n8ef2c2ad4229409ab666a136c41862dfb470,
            _:n8ef2c2ad4229409ab666a136c41862dfb471,
            _:n8ef2c2ad4229409ab666a136c41862dfb472,
            _:n8ef2c2ad4229409ab666a136c41862dfb473,
            _:n8ef2c2ad4229409ab666a136c41862dfb474,
            _:n8ef2c2ad4229409ab666a136c41862dfb475,
            _:n8ef2c2ad4229409ab666a136c41862dfb481,
            _:n8ef2c2ad4229409ab666a136c41862dfb482,
            :CombinedCapability,
            pt:PickAndPlace ;
        owl:disjointWith :BlindRiveting,
            :BulkBoxFeeding,
            :DrillBitFunction,
            :Drilling,
            :FingerFunction,
            :FingerGrasping,
            :FingerGripperFunction,
            :Fixturing,
            :ForceApplying,
            :HoldingByGravity,
            :ImpactRiveting,
            :Inserting,
            :Milling,
            :MillingCutterFunction,
            :MillingToolFunction,
            :MountingFlexibleRingExternal,
            :Moving,
            :OgivaToolsetFunction,
            :OrbitalRiveting,
            :OrientingMechanical,
            :PartStoringInTray,
            :PartStoringInTube,
            :Picking,
            :Placing,
            :PositioningMechanical,
            :PressToolFunction,
            :Pressing,
            :RadialRiveting,
            :Releasing,
            :Screwing,
            :ScrewingHeadFunction,
            :SpinningTool,
            :ThreadRunning,
            :ToolHolding,
            :TransportFeeding,
            :Transporting,
            :TransportingCollaborative,
            :TrayFeeding,
            :TrayHolding,
            :TubeFeederBaseFunction,
            :TubeFeeding,
            :VacuumCupFunction,
            :VacuumGrasping,
            :VacuumGripperFunction .

    _:n8ef2c2ad4229409ab666a136c41862dfb464 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :repeatability .

    _:n8ef2c2ad4229409ab666a136c41862dfb465 a owl:Restriction ;
        owl:minCardinality "1"^^xsd:int ;
        owl:onProperty :dof .

    _:n8ef2c2ad4229409ab666a136c41862dfb466 a owl:Restriction ;
        owl:allValuesFrom :Workspace ;
        owl:onProperty :hasWorkspaceTypeAndDimensions .

    _:n8ef2c2ad4229409ab666a136c41862dfb467 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :hasWorkspaceTypeAndDimensions .

    _:n8ef2c2ad4229409ab666a136c41862dfb468 a owl:Restriction ;
        owl:onProperty :hasInputCapability ;
        owl:someValuesFrom :Moving .

    _:n8ef2c2ad4229409ab666a136c41862dfb469 a owl:Restriction ;
        owl:onProperty :hasInputCapability ;
        owl:someValuesFrom :Releasing .

    _:n8ef2c2ad4229409ab666a136c41862dfb470 a owl:Restriction ;
        owl:maxCardinality "6"^^xsd:int ;
        owl:onProperty :dof .

    _:n8ef2c2ad4229409ab666a136c41862dfb471 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :hasItemSize_max .

    _:n8ef2c2ad4229409ab666a136c41862dfb472 a owl:Restriction ;
        owl:minCardinality "0"^^xsd:int ;
        owl:onProperty :hasAllowedItemShapeAndSize_max .

    _:n8ef2c2ad4229409ab666a136c41862dfb473 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :hasItemSize_min .

    _:n8ef2c2ad4229409ab666a136c41862dfb474 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :payload .

    _:n8ef2c2ad4229409ab666a136c41862dfb475 a owl:Restriction ;
        owl:onProperty :hasInputCapability ;
        owl:someValuesFrom _:n8ef2c2ad4229409ab666a136c41862dfb476 .

    _:n8ef2c2ad4229409ab666a136c41862dfb476 a owl:Class ;
        owl:unionOf _:n8ef2c2ad4229409ab666a136c41862dfb477 .

    _:n8ef2c2ad4229409ab666a136c41862dfb477 rdf:first :FingerGrasping ;
        rdf:rest _:n8ef2c2ad4229409ab666a136c41862dfb478 .

    _:n8ef2c2ad4229409ab666a136c41862dfb478 rdf:first :VacuumGrasping ;
        rdf:rest _:n8ef2c2ad4229409ab666a136c41862dfb479 .

    _:n8ef2c2ad4229409ab666a136c41862dfb479 rdf:first :MagneticGrasping ;
        rdf:rest _:n8ef2c2ad4229409ab666a136c41862dfb480 .

    _:n8ef2c2ad4229409ab666a136c41862dfb480 rdf:first :ExpansionGrasping ;
        rdf:rest () .

    _:n8ef2c2ad4229409ab666a136c41862dfb481 a owl:Restriction ;
        owl:minCardinality "0"^^xsd:int ;
        owl:onProperty :hasAllowedItemShapeAndSize_min .

    _:n8ef2c2ad4229409ab666a136c41862dfb482 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :accuracy .
}


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          },
          {
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          },
          {
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          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Inserting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTray"
          },
          {
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          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ImpactRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pressing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BulkBoxFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrbitalRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayHolding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#DrillBitFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#RadialRiveting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Releasing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Drilling"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeederBaseFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Picking"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ThreadRunning"
          },
          {
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          },
          {
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          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling"
          },
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            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PositioningMechanical"
          },
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          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Placing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PressToolFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ToolHolding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SpinningTool"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping"
          },
          {
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          },
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          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ForceApplying"
          },
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          },
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            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OgivaToolsetFunction"
          },
          {
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          },
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            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction"
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          }
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            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability"
          }
        ],
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        ],
        "http://www.w3.org/2002/07/owl#unionOf": [
          {
            "@list": [
              {
                "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping"
              },
              {
                "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping"
              },
              {
                "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MagneticGrasping"
              },
              {
                "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ExpansionGrasping"
              }
            ]
          }
        ]
      },
      {
        "@id": "_:n8ef2c2ad4229409ab666a136c41862dfb466",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#allValuesFrom": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Workspace"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions"
          }
        ]
      },
      {
        "@id": "_:n8ef2c2ad4229409ab666a136c41862dfb469",
        "@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#Releasing"
          }
        ]
      },
      {
        "@id": "_:n8ef2c2ad4229409ab666a136c41862dfb468",
        "@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#Moving"
          }
        ]
      },
      {
        "@id": "_:n8ef2c2ad4229409ab666a136c41862dfb471",
        "@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": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_max"
          }
        ]
      },
      {
        "@id": "_:n8ef2c2ad4229409ab666a136c41862dfb472",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#minCardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "0"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_max"
          }
        ]
      },
      {
        "@id": "_:n8ef2c2ad4229409ab666a136c41862dfb482",
        "@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#accuracy"
          }
        ]
      },
      {
        "@id": "_:n8ef2c2ad4229409ab666a136c41862dfb474",
        "@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#payload"
          }
        ]
      },
      {
        "@id": "_:n8ef2c2ad4229409ab666a136c41862dfb464",
        "@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#repeatability"
          }
        ]
      }
    ],
    "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel"
  }
]
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BlindRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb474 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#payload> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportingCollaborative> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb472 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb468 <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> .
_:n8ef2c2ad4229409ab666a136c41862dfb481 <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#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb470 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Inserting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <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> .
_:n8ef2c2ad4229409ab666a136c41862dfb476 <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#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb467 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb473 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb473 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTray> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb482 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb466 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb466 <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#PickAndPlace> <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ImpactRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb474 <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb464 <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#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb465 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pressing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb481 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb465 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb465 <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> .
_:n8ef2c2ad4229409ab666a136c41862dfb468 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#BulkBoxFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb471 <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb469 <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> .
_:n8ef2c2ad4229409ab666a136c41862dfb464 <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrbitalRiveting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb466 <http://www.w3.org/2002/07/owl#allValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Workspace> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#DrillBitFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb472 <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#PickAndPlace> <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb475 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <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#PickAndPlace> <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb469 <http://www.w3.org/2002/07/owl#someValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Releasing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb466 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeederBaseFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb469 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Picking> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb469 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb481 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb467 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb475 <http://www.w3.org/2002/07/owl#someValuesFrom> _:n8ef2c2ad4229409ab666a136c41862dfb476 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb478 <http://www.w3.org/1999/02/22-rdf-syntax-ns#rest> _:n8ef2c2ad4229409ab666a136c41862dfb479 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb468 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/processTaxonomyModel#PickAndPlace> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb479 <http://www.w3.org/1999/02/22-rdf-syntax-ns#first> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MagneticGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb477 <http://www.w3.org/1999/02/22-rdf-syntax-ns#first> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ThreadRunning> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrientingMechanical> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb467 <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> .
_:n8ef2c2ad4229409ab666a136c41862dfb474 <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb473 <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb475 <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#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb471 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb477 <http://www.w3.org/1999/02/22-rdf-syntax-ns#rest> _:n8ef2c2ad4229409ab666a136c41862dfb478 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PositioningMechanical> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HoldingByGravity> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb465 <http://www.w3.org/2002/07/owl#minCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb464 <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <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#PickAndPlace> <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ToolHolding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb470 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb481 <http://www.w3.org/2002/07/owl#minCardinality> "0"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb470 <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SpinningTool> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb480 <http://www.w3.org/1999/02/22-rdf-syntax-ns#rest> <http://www.w3.org/1999/02/22-rdf-syntax-ns#nil> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb482 <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTube> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <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#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CombinedCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb472 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb468 <http://www.w3.org/2002/07/owl#someValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb482 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb476 <http://www.w3.org/2002/07/owl#unionOf> _:n8ef2c2ad4229409ab666a136c41862dfb477 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb479 <http://www.w3.org/1999/02/22-rdf-syntax-ns#rest> _:n8ef2c2ad4229409ab666a136c41862dfb480 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingCutterFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ForceApplying> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#comment> "Capability to pick items and to place them into another location."^^<http://www.w3.org/2001/XMLSchema#string> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb480 <http://www.w3.org/1999/02/22-rdf-syntax-ns#first> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ExpansionGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <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#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb471 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb473 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OgivaToolsetFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb470 <http://www.w3.org/2002/07/owl#maxCardinality> "6"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb475 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb474 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n8ef2c2ad4229409ab666a136c41862dfb464 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb478 <http://www.w3.org/1999/02/22-rdf-syntax-ns#first> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Fixturing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb471 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb472 <http://www.w3.org/2002/07/owl#minCardinality> "0"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb467 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n8ef2c2ad4229409ab666a136c41862dfb482 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#accuracy> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
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