pycrap.ontologies.crax.object_properties
========================================

.. py:module:: pycrap.ontologies.crax.object_properties


Classes
-------

.. autoapisummary::

   pycrap.ontologies.crax.object_properties.is_part_of
   pycrap.ontologies.crax.object_properties.has_part
   pycrap.ontologies.crax.object_properties.has_parent_link
   pycrap.ontologies.crax.object_properties.has_child_link
   pycrap.ontologies.crax.object_properties.contains
   pycrap.ontologies.crax.object_properties.contains_object
   pycrap.ontologies.crax.object_properties.is_contained_in
   pycrap.ontologies.crax.object_properties.has_preferred_alignment
   pycrap.ontologies.crax.object_properties.has_preferred_axis
   pycrap.ontologies.crax.object_properties.has_vertical_alignment
   pycrap.ontologies.crax.object_properties.has_rotated_gripper
   pycrap.ontologies.crax.object_properties.has_rim_grasp
   pycrap.ontologies.crax.object_properties.is_physically_contained_in
   pycrap.ontologies.crax.object_properties.supports
   pycrap.ontologies.crax.object_properties.is_supported_by


Module Contents
---------------

.. py:class:: is_part_of

   Bases: :py:obj:`BaseProperty`


   A relation between any entities, e.g. 'brain is a part of the human body'. See dul:hasPart for additional documentation.


.. py:class:: has_part

   Bases: :py:obj:`BaseProperty`


   A schematic relation between any entities, e.g. 'the human body has a brain as part', '20th century contains year 1923', 'World War II includes the Pearl Harbour event'.

   Parthood should assume the basic properties of mereology: transitivity, antisymmetry, and reflexivity (propert Parthood of course misses reflexivity).
   However, antisymmetry is not supported in OWL2 explicitly, therefore DUL has to adopt one of two patterns:
   1) dropping asymmetry axioms, while granting reflexivity: this means that symmetry is not enforced, but permitted for the case of reflexivity. Of course, in this way we cannot prevent symmetric usages of hasPart;
   2) dropping the reflexivity axiom, and enforce asymmetry: in this case, we would prevent all symmetric usages, but we loose the possibility of enforcing reflexivity, which is commonsensical in parthood.
   In DUL, we adopt pattern #1 for partOf, and pattern #2 for properPartOf, which seems a good approximation: due to the lack of inheritance of property characteristics, each asymmetric hasPropertPart assertion would also be a reflexive hasPart assertion (reflexive reduction design pattern).

   Subproperties and restrictions can be used to specialize hasPart for objects, events, etc.


.. py:class:: has_parent_link

   Bases: :py:obj:`BaseProperty`


   Relates a joint to the link it connects which is closer to the root of the kinematic chain.


.. py:class:: has_child_link

   Bases: :py:obj:`BaseProperty`


   Relates a joint to the link it connects which is closer to the end of the kinematic chain.


.. py:class:: contains

   Bases: :py:obj:`BaseProperty`


   A schematic relation asserting containment, understood in a very broad sense, by one Entity of another.
   The relation is defined with domain and range of maximum generality, as it is possible to construe containment to
   apply between Events, between Objects, between Qualities and so on. Care should be taken when using it that the
   construal of containment makes sense and is useful. If a clearer relation expresses the connection between two
   Entities, use that relation instead. For example, rather than saying an Event contains an Object, it is probably
   better to say the Event has that Object as a participant. More specific versions of this relation exist,
   e.g. containsEvent, so it is likely that there will be few situations where it should be used itself.
   However, by acting as a superproperty to several relations, it captures a core similarity between these and enables
   taxonomy-based similarity metrics.


.. py:class:: contains_object

   Bases: :py:obj:`BaseProperty`


   A spatial relation holding between a container, and objects it contains.


.. py:class:: is_contained_in

   Bases: :py:obj:`BaseProperty`


   The inverse of the contains relation. See the contains relation for details.


.. py:class:: has_preferred_alignment

   Bases: :py:obj:`BaseProperty`


   A relation between an object and an alignment that is preferred for that object.


.. py:class:: has_preferred_axis

   Bases: :py:obj:`BaseProperty`


   A relation between an object and an axis identifier.


.. py:class:: has_vertical_alignment

   Bases: :py:obj:`BaseProperty`


   A relation between an object and boolean value indicating if the object should be grasped with a vertical alignment.


.. py:class:: has_rotated_gripper

   Bases: :py:obj:`BaseProperty`


   A relation between an object and boolean value indicating if the gripper should be rotated by 90°.


.. py:class:: has_rim_grasp

   Bases: :py:obj:`BaseProperty`


   A relation between an object and a boolean value indicating if the object should be grasped by the rim.


.. py:class:: is_physically_contained_in

   Bases: :py:obj:`BaseProperty`


   A spatial relation holding between an object (the container), and objects it contains.


.. py:class:: supports

   Bases: :py:obj:`BaseProperty`


   A relation between an object (the supporter) and another object (the supportee) where the supporter cancels the
    effect of gravity on the supportee.


.. py:class:: is_supported_by

   Bases: :py:obj:`BaseProperty`


   A relation between an object (the supporter) and another object (the supportee) where the supporter cancels the
    effect of gravity on the supportee. The inverse of the supports relation.