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+====== 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