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Overview of the KnowRob upper ontology

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

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, …