ABSTRACT
The chapter provides complete details on Spatial Grasp Language, which may be particularly useful for proper understanding of practical examples in the subsequent chapters. It describes different types of SGL constants and variables with their semantics, spatial distribution, and movement; it also provides the full repertoire of SGL rules with their semantics and practical use, which include type, usage, movement, creation, echoing, verification, assignment, advancement, branching, transference, exchange, timing, qualification, and grasping. The full SGL syntax is summarized too.
