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doc:knowrob_taxonomy [2014/06/05 11:38] (current)
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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