Minor fixes. Query should work now

Author: Sascha Jongebloed

scripts/knowrob_designator_client.py

@@ -21,9 +21,9 @@ def testQueryDesig():
     know = KnowRobRosLib()
     know.init_clients()  # After rospy.init_node()
 
-    query = "triple(?d, rdf:type, soma:PyCramActionDesignator)"
+    query = "triple(?d, 'http://www.w3.org/1999/02/22-rdf-syntax-ns#type', 'http://www.ease-crc.org/ont/SOMA.owl#PyCramActionDesignator')"
     rospy.loginfo(f"asking [{query}] ...")
-    result = know.ask_one(query, get_default_modalframe())
+    result = know.ask_all(query, get_default_modalframe())
     rospy.loginfo(f"response: [{result}]")
 
 def main():

scripts/knowrob_designator_service.py

@@ -64,11 +64,22 @@ def handle_resolve_start(self, msg):
         # Translate triples to knowrob triples
         builder = TripleQueryBuilder()
         for s, p, o in triples:
+            # Remove leading < or trailing > if present
+            s = s[1:] if s.startswith("<") else s
+            s = s[:-1] if s.endswith(">") else s
+
+            p = p[1:] if p.startswith("<") else p
+            p = p[:-1] if p.endswith(">") else p
+
+            o = o[1:] if o.startswith("<") else o
+            o = o[:-1] if o.endswith(">") else o
+
+            # Add the triple to the builder
             builder.add(s, p, o)
         # Set the modal frame
         modal_frame = get_default_modalframe()
-        modal_frame.minPastTimestamp = msg.stamp.to_sec()
-        modal_frame.confidence = 1.0
+        # modal_frame.minPastTimestamp = msg.stamp.to_sec()
+        # modal_frame.confidence = 1.0
         # Add the designator to knowrob
         self.knowrob.tell(builder.get_triples(), modal_frame)
         rospy.loginfo(f"Sent {len(triples)} unresolved Action designator triples for {designator_id}")
@@ -102,9 +113,10 @@ def handle_resolve_finished(self, msg):
             builder.add(s, p, o)
         # Set the modal frame
         modal_frame = get_default_modalframe()
-        modal_frame.minPastTimestamp = msg.stamp.to_sec()
-        modal_frame.confidence = 1.0
+        # modal_frame.minPastTimestamp = msg.stamp.to_sec()
+        # modal_frame.confidence = 1.0
         # Add the designator to knowrob
+        self.knowrob.tell(builder.get_triples(), modal_frame)
         rospy.loginfo(f"Sent {len(triples)} resolving triples for Action task {resolving_uri}")
         if print_triples:
             to_print = ""
@@ -130,8 +142,8 @@ def handle_exec_start(self, msg):
             builder.add(s, p, o)
         # Set the modal frame
         modal_frame = get_default_modalframe()
-        modal_frame.minPastTimestamp = msg.stamp.to_sec()
-        modal_frame.confidence = 1.0
+        # modal_frame.minPastTimestamp = msg.stamp.to_sec()
+        # modal_frame.confidence = 1.0
         # Add the designator to knowrob
         self.knowrob.tell(builder.get_triples(), modal_frame)
         rospy.loginfo(f"Sent {len(triples)} execution start triples for {msg.designator_id}")

src/knowrob_designator/designator_parser.py

@@ -4,10 +4,10 @@
 class DesignatorParser:
     # Define the prefixes
     PREFIXES = {
-        "SOMA": "<http://www.ease-crc.org/ont/SOMA.owl#>",
-        "dul": "<http://www.ontologydesignpatterns.org/ont/dul/DUL.owl#>",
-        "rdf": "<http://www.w3.org/1999/02/22-rdf-syntax-ns#>",
-        "owl": "<http://www.w3.org/2002/07/owl#>"
+        "SOMA": "<http://www.ease-crc.org/ont/SOMA.owl>",
+        "dul": "<http://www.ontologydesignpatterns.org/ont/dul/DUL.owl>",
+        "rdf": "<http://www.w3.org/1999/02/22-rdf-syntax-ns>",
+        "owl": "<http://www.w3.org/2002/07/owl>"
     }
 
     # Triple type for readability