pick and place flexible

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

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
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pick and place flexible
c

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

comment
This capability refers to flexible pick and place, which means that the picking and placing positions are not pre-programmed, but a vision and reasoning is used to detect the correct positions.
is sub class of
dofdp
max 6
thingc
has item size minop
max 1
thingc
has workspace type and dimensionsop
only
workspacec
has input capabilityop
some
locating visualc
accuracydp
exactly 1
thingc
payloaddp
exactly 1
thingc
has workspace type and dimensionsop
exactly 1
thingc
has input capabilityop
some
pick and placec
has allowed item shape and size maxop
min 0
thingc
has item size maxop
max 1
thingc
has allowed item shape and size minop
min 0
thingc
dofdp
min 1
thingc
combined capabilityc,
pick and place flexiblec

@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> {
    :PickAndPlaceFlexible a owl:Class ;
        rdfs:comment "This capability\r refers to flexible pick and place, which means that the picking and placing positions are not pre-programmed, but a vision and reasoning is used to detect the correct positions."^^xsd:string ;
        rdfs:subClassOf _:n0bcb5dd6658e46f9a784c967542d6dceb15,
            _:n0bcb5dd6658e46f9a784c967542d6dceb16,
            _:n0bcb5dd6658e46f9a784c967542d6dceb17,
            _:n0bcb5dd6658e46f9a784c967542d6dceb18,
            _:n0bcb5dd6658e46f9a784c967542d6dceb19,
            _:n0bcb5dd6658e46f9a784c967542d6dceb20,
            _:n0bcb5dd6658e46f9a784c967542d6dceb21,
            _:n0bcb5dd6658e46f9a784c967542d6dceb22,
            _:n0bcb5dd6658e46f9a784c967542d6dceb23,
            _:n0bcb5dd6658e46f9a784c967542d6dceb24,
            _:n0bcb5dd6658e46f9a784c967542d6dceb25,
            _:n0bcb5dd6658e46f9a784c967542d6dceb26,
            :CombinedCapability,
            pt:PickAndPlaceFlexible .

    _:n0bcb5dd6658e46f9a784c967542d6dceb15 a owl:Restriction ;
        owl:maxCardinality "6"^^xsd:int ;
        owl:onProperty :dof .

    _:n0bcb5dd6658e46f9a784c967542d6dceb16 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :hasItemSize_min .

    _:n0bcb5dd6658e46f9a784c967542d6dceb17 a owl:Restriction ;
        owl:allValuesFrom :Workspace ;
        owl:onProperty :hasWorkspaceTypeAndDimensions .

    _:n0bcb5dd6658e46f9a784c967542d6dceb18 a owl:Restriction ;
        owl:onProperty :hasInputCapability ;
        owl:someValuesFrom :LocatingVisual .

    _:n0bcb5dd6658e46f9a784c967542d6dceb19 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :accuracy .

    _:n0bcb5dd6658e46f9a784c967542d6dceb20 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :payload .

    _:n0bcb5dd6658e46f9a784c967542d6dceb21 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :hasWorkspaceTypeAndDimensions .

    _:n0bcb5dd6658e46f9a784c967542d6dceb22 a owl:Restriction ;
        owl:onProperty :hasInputCapability ;
        owl:someValuesFrom :PickAndPlace .

    _:n0bcb5dd6658e46f9a784c967542d6dceb23 a owl:Restriction ;
        owl:minCardinality "0"^^xsd:int ;
        owl:onProperty :hasAllowedItemShapeAndSize_max .

    _:n0bcb5dd6658e46f9a784c967542d6dceb24 a owl:Restriction ;
        owl:maxCardinality "1"^^xsd:int ;
        owl:onProperty :hasItemSize_max .

    _:n0bcb5dd6658e46f9a784c967542d6dceb25 a owl:Restriction ;
        owl:minCardinality "0"^^xsd:int ;
        owl:onProperty :hasAllowedItemShapeAndSize_min .

    _:n0bcb5dd6658e46f9a784c967542d6dceb26 a owl:Restriction ;
        owl:minCardinality "1"^^xsd:int ;
        owl:onProperty :dof .
}


[
  {
    "@graph": [
      {
        "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlaceFlexible",
        "@type": [
          "http://www.w3.org/2002/07/owl#Class"
        ],
        "http://www.w3.org/2000/01/rdf-schema#comment": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#string",
            "@value": "This capability\r refers to flexible pick and place, which means that the picking and placing positions are not pre-programmed, but a vision and reasoning is used to detect the correct positions."
          }
        ],
        "http://www.w3.org/2000/01/rdf-schema#subClassOf": [
          {
            "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb15"
          },
          {
            "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb16"
          },
          {
            "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb22"
          },
          {
            "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb19"
          },
          {
            "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb18"
          },
          {
            "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb25"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CombinedCapability"
          },
          {
            "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb21"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/processTaxonomyModel#PickAndPlaceFlexible"
          },
          {
            "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb17"
          },
          {
            "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb26"
          },
          {
            "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb23"
          },
          {
            "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb24"
          },
          {
            "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb20"
          }
        ]
      },
      {
        "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb15",
        "@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": "6"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof"
          }
        ]
      },
      {
        "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb16",
        "@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_min"
          }
        ]
      },
      {
        "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb22",
        "@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#PickAndPlace"
          }
        ]
      },
      {
        "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb19",
        "@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": "_:n0bcb5dd6658e46f9a784c967542d6dceb18",
        "@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#LocatingVisual"
          }
        ]
      },
      {
        "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb25",
        "@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_min"
          }
        ]
      },
      {
        "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb21",
        "@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#hasWorkspaceTypeAndDimensions"
          }
        ]
      },
      {
        "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb17",
        "@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": "_:n0bcb5dd6658e46f9a784c967542d6dceb26",
        "@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": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof"
          }
        ]
      },
      {
        "@id": "_:n0bcb5dd6658e46f9a784c967542d6dceb23",
        "@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": "_:n0bcb5dd6658e46f9a784c967542d6dceb24",
        "@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": "_:n0bcb5dd6658e46f9a784c967542d6dceb20",
        "@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": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel"
  }
]
_:n0bcb5dd6658e46f9a784c967542d6dceb15 <http://www.w3.org/2002/07/owl#maxCardinality> "6"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb16 <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> .
_:n0bcb5dd6658e46f9a784c967542d6dceb16 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb19 <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#PickAndPlaceFlexible> <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#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n0bcb5dd6658e46f9a784c967542d6dceb15 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n0bcb5dd6658e46f9a784c967542d6dceb16 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n0bcb5dd6658e46f9a784c967542d6dceb22 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb26 <http://www.w3.org/2002/07/owl#minCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb26 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb18 <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#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n0bcb5dd6658e46f9a784c967542d6dceb19 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n0bcb5dd6658e46f9a784c967542d6dceb18 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb25 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb17 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb17 <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#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n0bcb5dd6658e46f9a784c967542d6dceb25 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb22 <http://www.w3.org/2002/07/owl#someValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlace> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb26 <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#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#CombinedCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb19 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb21 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb18 <http://www.w3.org/2002/07/owl#someValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#LocatingVisual> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n0bcb5dd6658e46f9a784c967542d6dceb21 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb22 <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#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/processTaxonomyModel#PickAndPlaceFlexible> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb21 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasWorkspaceTypeAndDimensions> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb19 <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#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n0bcb5dd6658e46f9a784c967542d6dceb17 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n0bcb5dd6658e46f9a784c967542d6dceb26 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb21 <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> .
_:n0bcb5dd6658e46f9a784c967542d6dceb25 <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> .
_:n0bcb5dd6658e46f9a784c967542d6dceb24 <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> .
_:n0bcb5dd6658e46f9a784c967542d6dceb23 <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> .
_:n0bcb5dd6658e46f9a784c967542d6dceb16 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb20 <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#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#comment> "This capability\r refers to flexible pick and place, which means that the picking and placing positions are not pre-programmed, but a vision and reasoning is used to detect the correct positions."^^<http://www.w3.org/2001/XMLSchema#string> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb17 <http://www.w3.org/2002/07/owl#allValuesFrom> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Workspace> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb20 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#payload> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb25 <http://www.w3.org/2002/07/owl#minCardinality> "0"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb18 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb22 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasInputCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb15 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#dof> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb15 <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> .
_:n0bcb5dd6658e46f9a784c967542d6dceb23 <http://www.w3.org/2002/07/owl#minCardinality> "0"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n0bcb5dd6658e46f9a784c967542d6dceb23 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb23 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasAllowedItemShapeAndSize_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n0bcb5dd6658e46f9a784c967542d6dceb24 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PickAndPlaceFlexible> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n0bcb5dd6658e46f9a784c967542d6dceb20 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb24 <http://www.w3.org/2002/07/owl#maxCardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n0bcb5dd6658e46f9a784c967542d6dceb20 <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> .
_:n0bcb5dd6658e46f9a784c967542d6dceb24 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#hasItemSize_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
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