rk_bind_config.motion.bonyRobot_AZR50.ttl Maven / Gradle / Ivy
## This file contains RDF in Turtle (".ttl") format.
## See: http://www.w3.org/TeamSubmission/turtle/
@prefix rdf: .
@prefix rdfs: .
@prefix dc: .
@prefix qt: .
@prefix ja: .
@prefix apsb: .
@prefix apt: .
@prefix bc: .
@prefix bci: .
<> rdfs:comment "All of this metadata is optional, unused, and just for fun/future" ;
dc:creator "Stu B. " ;
dc:subject "Zeno R-50 config" ;
dc:publisher "cogchar.org" ;
dc:title "(title) Bony config for Zeno R-50" ;
dc:description "(desc) Bony config for Zeno R-50" ;
dc:date "2012-03-13" ;
dc:format "RDF" ;
dc:identifier "what_does_this_dublin_core_identifier_mean"
##### ja:imports is how we can include files, which can include others
##### The imports will be resolved using Jena FileManager, which reads
##### both filesystem and classpath.
##### ja:imports "org/cogchar/test/assembly/moreNugs.ttl"
##### The period on next line is important: It ends this block of triples.
.
#### This "Buildable" resource defines a factory for a particular kind of component.
#### The factory might keep a cache allowing it to stitch identical URI references to a
#### context-unique runtime object, or it might not. As it turns out, BoneRobotConfig$Builder
#### does inherit that feature, but we aren't using it at this time.
#### Formally, we are defining an RDFS:class, which has the URI
#### bc:BuildableBoneRobotConfig, which you'll see used below as the "rdf:type"
#### of the bci:zenoR50 robot instance.
bc:BuildableBoneRobotConfig
a rdfs:Class;
rdfs:subClassOf ja:Object;
ja:assembler "org.cogchar.api.skeleton.config.BoneRobotConfig$Builder"
##### Again, note the period ending the description of this resource, and all other
##### top-level (*syntactically, but not semantically*) resources below.
.
##########################################################################
##### The Robot Resource
##### The URI of the robot is (the expanded form of) bci:zenoR50
##### rdf:type allows Jena Assembler to construct the factory (BoneRobotConfig.Builder)
##### defined by the BuildableBoneRobotconfig above.
##########################################################################
bci:zenoR50 rdf:type bc:BuildableBoneRobotConfig;
#### Here is the class name of the actual config object instance we are constructing.
apsb:javaFQCN "org.cogchar.api.skeleton.config.BoneRobotConfig";
#### Some additional descriptive metadata
apsb:label "Zeno R-50 Avatar Bone Config apsb:label";
rdfs:label "Zeno R-50 Avatar Bone Config rdfs:label";
#### bc:robotName is used for the MechIO "Robot.Id"
bc:robotName "Avatar_AZR50";
### bc:joint property contains the URIs of each joint. The order does not matter.
### Commas indicate multiple values for the same property, which can be
### interpreted as an *unordered* collection. An ordered collection uses parens, and
### has a distinctly different form (although it does also make use of commas).
### See the o.c.test.assembly "Nugget" example.
bc:joint
bci:joint_Root_Spin, bci:joint_Spine_Yaw,
bci:joint_Neck_Yaw, bci:joint_Neck_Roll, bci:joint_Neck_Pitch,
bci:joint_Brows_Up, bci:joint_Blink_Open,
bci:joint_Eyes_Pitch, bci:joint_LtEye_Yaw, bci:joint_RtEye_Yaw,
bci:joint_Upper_Jaw, bci:joint_Lower_Jaw,
bci:joint_Jaw,
bci:joint_LtShoulder_Pitch, bci:joint_LtShoulder_Roll,
bci:joint_LtElbow_Yaw, bci:joint_LtElbow_Pitch,
bci:joint_LtWrist_Yaw,
bci:joint_RtShoulder_Pitch, bci:joint_RtShoulder_Roll,
bci:joint_RtElbow_Yaw, bci:joint_RtElbow_Pitch,
bci:joint_RtWrist_Yaw,
bci:joint_LtHip_Roll, bci:joint_LtHip_Yaw, bci:joint_LtHip_Pitch,
bci:joint_LtKnee_Pitch,
bci:joint_LtAnkle_Pitch, bci:joint_LtAnkle_Roll,
bci:joint_RtHip_Roll, bci:joint_RtHip_Yaw, bci:joint_RtHip_Pitch,
bci:joint_RtKnee_Pitch,
bci:joint_RtAnkle_Pitch, bci:joint_RtAnkle_Roll
.
#### Other bones that seem not too useful:
### Head, LtClav, RtClav
#################################################################################
#### Note the period above, so the robot resource is now done, and we can move on to:
#### The Joint Resources
#### Note that minAngle may be numerically greater than maxAngle, indicating an inverted relationship
#### between the joint's sense and the coordinate system of the bone.
#### "min" = fully retracted, "max" = fully extended.
#################################################################################
### bci:joint_Root is a URI, which has properties, defined by triples.
### Each joint may have one or more projection ranges, each of which is
### also a resource, which may be an explicit URI or a blank node.
### (So far we are using blank nodes).
######################################################################
######################################################################
##### Torso
######################################################################
bci:joint_Root_Spin
# We put jointNum and boneName on same line to make it easy to grep this file for mappings.
bc:jointNum 42; bc:jointName "Root_Spin";
bc:defaultPosNorm 0.5;
bc:projectionRange [
# This resource is a "blank node", because it doesn't have an explicit URI.
bc:boneName "Root";
bc:rotationAxis "X_ROT";
bc:minAngleDeg -180.0;
bc:maxAngleDeg 180.0;
]
.
bci:joint_Spine_Yaw
bc:jointNum 100; bc:jointName "Waist_Yaw";
bc:defaultPosNorm 0.5;
bc:projectionRange [
bc:boneName "Spine1";
bc:rotationAxis "X_ROT";
bc:minAngleDeg -90.0;
bc:maxAngleDeg 90.0;
]
.
######################################################################
##### Neck
######################################################################
bci:joint_Neck_Yaw
bc:jointNum 200; bc:jointName "Neck_Yaw";
bc:defaultPosNorm 0.5;
bc:projectionRange [
bc:boneName "bn_neck01";
bc:rotationAxis "X_ROT";
bc:minAngleDeg -90.0;
bc:maxAngleDeg 90.0;
]
.
bci:joint_Neck_Roll
bc:jointNum 201; bc:jointName "Neck_Roll";
bc:defaultPosNorm 0.5;
bc:projectionRange [
bc:boneName "bn_neck01";
bc:rotationAxis "Z_ROT";
bc:minAngleDeg -45.0;
bc:maxAngleDeg 45.0;
]
.
bci:joint_Neck_Pitch
bc:jointNum 202; bc:jointName "Neck_Pitch";
bc:defaultPosNorm 0.5;
bc:projectionRange [
bc:boneName "bn_neck01";
bc:rotationAxis "Y_ROT";
bc:minAngleDeg -90.0;
bc:maxAngleDeg 90.0;
]
.
######################################################################
##### Face
######################################################################
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