====== Overview of the KnowRob upper ontology ======
~~NOTOC~~
{{ :upper-ontology.png?nolink& |}}

====  SpatialThing  ====

  * **Map** of an environment
  * **Point**, a zero-dimensional thing with a location
  * **Place** a relevant place in the environment
  * **Trajectory**, e.g. of the arm or the robot base
  * **SurfaceRegion**, different sides like the front or the back of an object
  * **EnduringThing-Localized**, all tangible objects that can be assigned a location
    * **EmbodiedAgent**
    * **PhysicalDevice**, an object that serves as a tool in the widest sense
    * **Connection-Physical** for any kind of joint
    * **HumanScaleObject**
      * **ConstructionArtifact** for walls, ceiling, floor, doors, etc
      * **FurniturePiece** for tables, cupboards, chairs, etc
      * **AnimalBodyPart**: Hands, legs, fingers,...
      * **FoodOrDrink**: edible and drinkable stuff

====  TemporalThing  ====

  * **TimeInterval** (e.g. time points, date, time of the day)
  * **Situation**, e.g. a posture or a grasp
  * **Event**
    * **SensoryEvent**, e.g. the perception of an object
    * **StateChangeEvent**, e.g. heating, freezing, vaporization
    * **Action** -> PurposefulAction
      * **Perceiving** (similar to SensoryEvent, but in the action context)
      * **VoluntaryBodyMovement**, e.g. Reaching or ReleasingGrasp (Movements that are not directly manipulating an object)
      * **ActionOnObject** (any kind of object interaction)
        * **ControllingSomething**: tap, electrical device, ...
        * **HoldingAnObject** (different grasps, no movement involved)
        * **Movement-Translation**: picking up, putting down, or moving objects, walking around, ...
        * **RemovingSomething**: cleaning activities
        * **OpeningSomething**: bottle, cupboard, drawer, ...
        * **ClosingSomething**: bottle, cupboard, drawer, ...

====  MathematicalThing  ====
  * **Units**
  * **Mathematical objects** like coordinate systems, matrices, vectors etc