From a1c7888c5c17bd11b391682b59f8c7e560a1b0aa Mon Sep 17 00:00:00 2001
From: Moritz Tenorth <tenorth@cs.uni-bremen.de>
Date: Fri, 1 Aug 2014 15:10:40 +0200
Subject: [PATCH 1/8] Split iai_maps into three separate packages
* iai_semantic_maps: Semantic maps of our lab(s)
* iai_maps: 2D maps and launch files
* iai_kitchen_defs: URDF files and Gazebo information
---
CMakeLists.txt | 50 -
Makefile | 1 -
iai_kitchen_defs/CMakeLists.txt | 66 ++
.../Media}/materials/scripts/LAB.material | 0
.../textures/auf_saeule_bei_shop.png | Bin
.../materials/textures/cooking_plate.jpg | Bin
.../ganz_links_neben_roboterplakat.png | Bin
.../textures/ganz_links_vorn_bei_biolab.png | Bin
.../ganz_rechts_neben_kuecheninsel.png | Bin
.../hinter_shopschraenken_an_saeule.png | Bin
.../textures/mittig_neben_roboterplakat.png | Bin
.../Media}/materials/textures/sink.png | Bin
.../Media}/materials/textures/stove.png | Bin
.../Media}/materials/textures/wallpaper.png | Bin
.../Media}/materials/textures/wallpaper2.png | Bin
.../materials/textures/wallpaper_ai_unihb.png | Bin
.../textures/wallpaper_project_logos.png | Bin
.../Media}/models/cash_register.urdf.xml | 0
.../Media}/models/chair.urdf.xml | 0
.../Media}/models/cnc.urdf.xml | 0
.../Media}/models/glasses.urdf.xml | 0
.../Media}/models/meshes/Cash_Register.dae | 0
.../Cash_Register/cash_register_keys.jpg | Bin
.../Media}/models/meshes/Chair.dae | 0
.../models/meshes/Chair/__Wood-cherry_.jpg | Bin
.../Media}/models/meshes/cnc.dae | 0
.../meshes/cnc/Metal_Aluminum_Anodized_.jpg | Bin
.../meshes/cnc/Metal_Corrogated_Shiny_.jpg | Bin
.../Media}/models/meshes/cnc/Metal_Rough_.jpg | Bin
.../models/meshes/cnc/Metal_Seamed_.jpg | Bin
.../Media}/models/meshes/glasses.dae | 0
.../models/meshes/glasses/__Color_A05_4.png | Bin
.../Media}/models/meshes/test_glasses.dae | 0
.../meshes/test_glasses/Water_Deep_.jpg | Bin
.../meshes/test_glasses/Water_Pool_.jpg | Bin
.../meshes/test_glasses/Water_Sparkling_.jpg | Bin
.../Media}/models/meshes/wine_cooler.dae | 0
.../meshes/wine_cooler/__Blue_Glass_4.JPG | Bin
.../models/meshes/wine_cooler/material_25.jpg | Bin
.../Media}/models/test_glasses.urdf.xml | 0
.../Media}/models/wine_cooler.urdf.xml | 0
.../defs}/ias_kitchen/cuboid.xml | 0
.../defs}/ias_kitchen/fridge_block.xml | 0
.../defs}/ias_kitchen/furniture_defs.xml | 0
.../defs}/ias_kitchen/island_block.xml | 0
.../defs}/ias_kitchen/materials.xml | 0
.../defs}/ias_kitchen/oven_block.xml | 0
.../defs}/ias_kitchen/shopping_block.xml | 0
.../defs}/ias_kitchen/sink_block.xml | 0
.../defs}/ias_kitchen/small_table.xml | 0
.../defs}/ias_kitchen/table.xml | 0
{defs => iai_kitchen_defs/defs}/util_defs.xml | 0
iai_kitchen_defs/package.xml | 17 +
.../room}/allInOne.urdf.xml | 0
.../room}/bio_area.urdf.xml | 0
.../room}/cnc_area.urdf.xml | 0
.../room}/colorTest.urdf.xml | 0
.../room}/kitchen_area.urdf.xml | 0
.../room}/lab_macros.xml | 0
{room => iai_kitchen_defs/room}/room.urdf.xml | 0
.../room}/shopping_area.urdf.xml | 0
{room => iai_kitchen_defs/room}/test.urdf.xml | 0
.../room}/worktables.urdf.xml | 0
iai_maps/CMakeLists.txt | 7 +
.../launch}/iai_kitchen_in_rviz.launch | 0
{launch => iai_maps/launch}/iai_maps.launch | 0
{launch => iai_maps/launch}/iai_maps2.launch | 0
.../launch}/iai_maps_nogroundmap.launch | 0
.../launch}/iai_maps_restricted.launch | 0
{launch => iai_maps/launch}/json.launch | 0
.../kitchen_with_state_publisher.launch | 0
{launch => iai_maps/launch}/map.launch | 0
{launch => iai_maps/launch}/map2.launch | 0
.../launch}/map_restricted.launch | 0
{launch => iai_maps/launch}/maps_only.launch | 0
{launch => iai_maps/launch}/no-json.launch | 0
{launch => iai_maps/launch}/room.launch | 0
.../launch}/stp_pancake_table.launch | 0
{maps => iai_maps/maps}/map.pgm | Bin
{maps => iai_maps/maps}/map.yaml | 0
{maps => iai_maps/maps}/map2.pgm | Bin
{maps => iai_maps/maps}/map2.yaml | 0
{maps => iai_maps/maps}/map3.pgm | Bin
{maps => iai_maps/maps}/map3.yaml | 0
{maps => iai_maps/maps}/map_restricted.pgm | Bin
{maps => iai_maps/maps}/map_restricted.yaml | 0
iai_maps/package.xml | 14 +
iai_semantic_maps/CMakeLists.txt | 9 +
.../owl}/iai_maps_addons.owl.in | 0
.../owl}/ias_map_addons.owl.in | 0
{owl => iai_semantic_maps/owl}/room.owl.in | 0
iai_semantic_maps/package.xml | 21 +
.../prolog}/iai_maps.pl | 0
.../prolog}/iai_maps_addons.pl.in | 0
.../prolog}/init.pl.in | 0
.../prolog}/room.pl.in | 0
.../prolog}/semantic_map_utils.pl | 0
mainpage.dox | 14 -
manifest.xml | 22 -
rviz_configs/iai_kitchen_only.rviz | 937 ------------------
100 files changed, 134 insertions(+), 1024 deletions(-)
delete mode 100644 CMakeLists.txt
delete mode 100644 Makefile
create mode 100644 iai_kitchen_defs/CMakeLists.txt
rename {Media => iai_kitchen_defs/Media}/materials/scripts/LAB.material (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/auf_saeule_bei_shop.png (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/cooking_plate.jpg (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/ganz_links_neben_roboterplakat.png (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/ganz_links_vorn_bei_biolab.png (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/ganz_rechts_neben_kuecheninsel.png (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/hinter_shopschraenken_an_saeule.png (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/mittig_neben_roboterplakat.png (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/sink.png (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/stove.png (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/wallpaper.png (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/wallpaper2.png (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/wallpaper_ai_unihb.png (100%)
rename {Media => iai_kitchen_defs/Media}/materials/textures/wallpaper_project_logos.png (100%)
rename {Media => iai_kitchen_defs/Media}/models/cash_register.urdf.xml (100%)
rename {Media => iai_kitchen_defs/Media}/models/chair.urdf.xml (100%)
rename {Media => iai_kitchen_defs/Media}/models/cnc.urdf.xml (100%)
rename {Media => iai_kitchen_defs/Media}/models/glasses.urdf.xml (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/Cash_Register.dae (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/Cash_Register/cash_register_keys.jpg (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/Chair.dae (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/Chair/__Wood-cherry_.jpg (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/cnc.dae (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/cnc/Metal_Aluminum_Anodized_.jpg (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/cnc/Metal_Corrogated_Shiny_.jpg (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/cnc/Metal_Rough_.jpg (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/cnc/Metal_Seamed_.jpg (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/glasses.dae (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/glasses/__Color_A05_4.png (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/test_glasses.dae (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/test_glasses/Water_Deep_.jpg (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/test_glasses/Water_Pool_.jpg (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/test_glasses/Water_Sparkling_.jpg (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/wine_cooler.dae (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/wine_cooler/__Blue_Glass_4.JPG (100%)
rename {Media => iai_kitchen_defs/Media}/models/meshes/wine_cooler/material_25.jpg (100%)
rename {Media => iai_kitchen_defs/Media}/models/test_glasses.urdf.xml (100%)
rename {Media => iai_kitchen_defs/Media}/models/wine_cooler.urdf.xml (100%)
rename {defs => iai_kitchen_defs/defs}/ias_kitchen/cuboid.xml (100%)
rename {defs => iai_kitchen_defs/defs}/ias_kitchen/fridge_block.xml (100%)
rename {defs => iai_kitchen_defs/defs}/ias_kitchen/furniture_defs.xml (100%)
rename {defs => iai_kitchen_defs/defs}/ias_kitchen/island_block.xml (100%)
rename {defs => iai_kitchen_defs/defs}/ias_kitchen/materials.xml (100%)
rename {defs => iai_kitchen_defs/defs}/ias_kitchen/oven_block.xml (100%)
rename {defs => iai_kitchen_defs/defs}/ias_kitchen/shopping_block.xml (100%)
rename {defs => iai_kitchen_defs/defs}/ias_kitchen/sink_block.xml (100%)
rename {defs => iai_kitchen_defs/defs}/ias_kitchen/small_table.xml (100%)
rename {defs => iai_kitchen_defs/defs}/ias_kitchen/table.xml (100%)
rename {defs => iai_kitchen_defs/defs}/util_defs.xml (100%)
create mode 100644 iai_kitchen_defs/package.xml
rename {room => iai_kitchen_defs/room}/allInOne.urdf.xml (100%)
rename {room => iai_kitchen_defs/room}/bio_area.urdf.xml (100%)
rename {room => iai_kitchen_defs/room}/cnc_area.urdf.xml (100%)
rename {room => iai_kitchen_defs/room}/colorTest.urdf.xml (100%)
rename {room => iai_kitchen_defs/room}/kitchen_area.urdf.xml (100%)
rename {room => iai_kitchen_defs/room}/lab_macros.xml (100%)
rename {room => iai_kitchen_defs/room}/room.urdf.xml (100%)
rename {room => iai_kitchen_defs/room}/shopping_area.urdf.xml (100%)
rename {room => iai_kitchen_defs/room}/test.urdf.xml (100%)
rename {room => iai_kitchen_defs/room}/worktables.urdf.xml (100%)
create mode 100644 iai_maps/CMakeLists.txt
rename {launch => iai_maps/launch}/iai_kitchen_in_rviz.launch (100%)
rename {launch => iai_maps/launch}/iai_maps.launch (100%)
rename {launch => iai_maps/launch}/iai_maps2.launch (100%)
rename {launch => iai_maps/launch}/iai_maps_nogroundmap.launch (100%)
rename {launch => iai_maps/launch}/iai_maps_restricted.launch (100%)
rename {launch => iai_maps/launch}/json.launch (100%)
rename {launch => iai_maps/launch}/kitchen_with_state_publisher.launch (100%)
rename {launch => iai_maps/launch}/map.launch (100%)
rename {launch => iai_maps/launch}/map2.launch (100%)
rename {launch => iai_maps/launch}/map_restricted.launch (100%)
rename {launch => iai_maps/launch}/maps_only.launch (100%)
rename {launch => iai_maps/launch}/no-json.launch (100%)
rename {launch => iai_maps/launch}/room.launch (100%)
rename {launch => iai_maps/launch}/stp_pancake_table.launch (100%)
rename {maps => iai_maps/maps}/map.pgm (100%)
rename {maps => iai_maps/maps}/map.yaml (100%)
rename {maps => iai_maps/maps}/map2.pgm (100%)
rename {maps => iai_maps/maps}/map2.yaml (100%)
rename {maps => iai_maps/maps}/map3.pgm (100%)
rename {maps => iai_maps/maps}/map3.yaml (100%)
rename {maps => iai_maps/maps}/map_restricted.pgm (100%)
rename {maps => iai_maps/maps}/map_restricted.yaml (100%)
create mode 100644 iai_maps/package.xml
create mode 100644 iai_semantic_maps/CMakeLists.txt
rename {owl => iai_semantic_maps/owl}/iai_maps_addons.owl.in (100%)
rename {owl => iai_semantic_maps/owl}/ias_map_addons.owl.in (100%)
rename {owl => iai_semantic_maps/owl}/room.owl.in (100%)
create mode 100644 iai_semantic_maps/package.xml
rename {prolog => iai_semantic_maps/prolog}/iai_maps.pl (100%)
rename {prolog => iai_semantic_maps/prolog}/iai_maps_addons.pl.in (100%)
rename {prolog => iai_semantic_maps/prolog}/init.pl.in (100%)
rename {prolog => iai_semantic_maps/prolog}/room.pl.in (100%)
rename {prolog => iai_semantic_maps/prolog}/semantic_map_utils.pl (100%)
delete mode 100644 mainpage.dox
delete mode 100644 manifest.xml
delete mode 100644 rviz_configs/iai_kitchen_only.rviz
diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 000d306..0000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,50 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-rosbuild_init()
-
-file(GLOB def_files ${CMAKE_CURRENT_SOURCE_DIR}/defs/*.xml
- ${CMAKE_CURRENT_SOURCE_DIR}/robots/*groups*.xml)
-
-file(GLOB xacros ${CMAKE_CURRENT_SOURCE_DIR}/robots/*.urdf.xml)
-
-rosbuild_find_ros_package(xacro)
-
-set(outfiles "")
-
-foreach( _xacro ${xacros} )
- string(REPLACE ".urdf." ".expanded." _outfile ${_xacro})
- add_custom_command(
- OUTPUT ${_outfile}
- COMMAND ${xacro_PACKAGE_PATH}/xacro.py
- ARGS ${_xacro} > ${_outfile}
- DEPENDS ${_xacro} ${def_files})
- list(APPEND outfiles ${_outfile})
-endforeach( _xacro)
-
-
-rosbuild_find_ros_package(ias_knowledge_base)
-rosbuild_include(rosprolog utils)
-
-set( OWL_PATH_PREFIX ${ias_knowledge_base_PACKAGE_PATH} )
-fix_ros_destination_path(OWL_PATH_PREFIX)
-
-file(GLOB inputs owl/*.in)
-
-foreach( _in ${inputs} )
- string(REPLACE ".in" "" _out ${_in})
- configure_file( ${_in} ${_out} )
-endforeach( _in )
-
-# replace path to local OWL files
-rosbuild_find_ros_package(iai_maps)
-set( LOCAL_PACKAGE_PATH ${iai_maps_PACKAGE_PATH} )
-fix_ros_destination_path(LOCAL_PACKAGE_PATH)
-
-file(GLOB inputs prolog/*.in)
-foreach( _in ${inputs} )
- string(REPLACE ".in" "" _out ${_in})
- configure_file( ${_in} ${_out} )
-endforeach( _in )
-
-add_custom_target( expanded_defs ALL DEPENDS ${outfiles} )
diff --git a/Makefile b/Makefile
deleted file mode 100644
index b75b928..0000000
--- a/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/iai_kitchen_defs/CMakeLists.txt b/iai_kitchen_defs/CMakeLists.txt
new file mode 100644
index 0000000..9b51b32
--- /dev/null
+++ b/iai_kitchen_defs/CMakeLists.txt
@@ -0,0 +1,66 @@
+
+cmake_minimum_required(VERSION 2.8.3)
+project(iai_semantic_maps)
+
+find_package(catkin REQUIRED COMPONENTS xacro)
+
+catkin_package(
+ DEPENDS xacro
+)
+
+
+#
+# file(GLOB def_files ${CMAKE_CURRENT_SOURCE_DIR}/defs/*.xml
+# ${CMAKE_CURRENT_SOURCE_DIR}/robots/*groups*.xml)
+#
+# file(GLOB xacros ${CMAKE_CURRENT_SOURCE_DIR}/robots/*.urdf.xml)
+#
+#
+#
+# set(outfiles "")
+#
+# foreach( _xacro ${xacros} )
+# string(REPLACE ".urdf." ".expanded." _outfile ${_xacro})
+# add_custom_command(
+# OUTPUT ${_outfile}
+# COMMAND ${xacro_PACKAGE_PATH}/xacro.py
+# ARGS ${_xacro} > ${_outfile}
+# DEPENDS ${_xacro} ${def_files})
+# list(APPEND outfiles ${_outfile})
+# endforeach( _xacro)
+#
+# add_custom_target( expanded_defs ALL DEPENDS ${outfiles} )
+#
+
+#
+#
+#
+# # Generate .world files from .world.xacro files
+# find_package(xacro REQUIRED)
+# # You can also add xacro to the list of catkin packages:
+# # find_package(catkin REQUIRED COMPONENTS ... xacro)
+#
+# set(world_files "")
+#
+# # Xacro files
+# file(GLOB model_xacro_files ${CMAKE_CURRENT_SOURCE_DIR}/worlds/*/*.xacro)
+#
+# # Dependency files
+# file(GLOB world_xacro_files ${CMAKE_CURRENT_SOURCE_DIR}/worlds/*.world.xacro)
+#
+# foreach(it ${world_xacro_files})
+# get_filename_component(basepath ${it} PATH)
+# get_filename_component(basename ${it} NAME_WE)
+#
+# message(" processing world file :",${basepath}," : ",${basename})
+#
+# set(expanded_file "${basepath}/${basename}.world")
+# message(" produce expanded file :", ${expanded_file})
+#
+# xacro_add_xacro_file(${it} ${expanded_file})
+#
+# set(world_files ${world_files} ${expanded_file})
+# endforeach(it)
+#
+# add_custom_target(media_files ALL DEPENDS ${world_files})
+#
diff --git a/Media/materials/scripts/LAB.material b/iai_kitchen_defs/Media/materials/scripts/LAB.material
similarity index 100%
rename from Media/materials/scripts/LAB.material
rename to iai_kitchen_defs/Media/materials/scripts/LAB.material
diff --git a/Media/materials/textures/auf_saeule_bei_shop.png b/iai_kitchen_defs/Media/materials/textures/auf_saeule_bei_shop.png
similarity index 100%
rename from Media/materials/textures/auf_saeule_bei_shop.png
rename to iai_kitchen_defs/Media/materials/textures/auf_saeule_bei_shop.png
diff --git a/Media/materials/textures/cooking_plate.jpg b/iai_kitchen_defs/Media/materials/textures/cooking_plate.jpg
similarity index 100%
rename from Media/materials/textures/cooking_plate.jpg
rename to iai_kitchen_defs/Media/materials/textures/cooking_plate.jpg
diff --git a/Media/materials/textures/ganz_links_neben_roboterplakat.png b/iai_kitchen_defs/Media/materials/textures/ganz_links_neben_roboterplakat.png
similarity index 100%
rename from Media/materials/textures/ganz_links_neben_roboterplakat.png
rename to iai_kitchen_defs/Media/materials/textures/ganz_links_neben_roboterplakat.png
diff --git a/Media/materials/textures/ganz_links_vorn_bei_biolab.png b/iai_kitchen_defs/Media/materials/textures/ganz_links_vorn_bei_biolab.png
similarity index 100%
rename from Media/materials/textures/ganz_links_vorn_bei_biolab.png
rename to iai_kitchen_defs/Media/materials/textures/ganz_links_vorn_bei_biolab.png
diff --git a/Media/materials/textures/ganz_rechts_neben_kuecheninsel.png b/iai_kitchen_defs/Media/materials/textures/ganz_rechts_neben_kuecheninsel.png
similarity index 100%
rename from Media/materials/textures/ganz_rechts_neben_kuecheninsel.png
rename to iai_kitchen_defs/Media/materials/textures/ganz_rechts_neben_kuecheninsel.png
diff --git a/Media/materials/textures/hinter_shopschraenken_an_saeule.png b/iai_kitchen_defs/Media/materials/textures/hinter_shopschraenken_an_saeule.png
similarity index 100%
rename from Media/materials/textures/hinter_shopschraenken_an_saeule.png
rename to iai_kitchen_defs/Media/materials/textures/hinter_shopschraenken_an_saeule.png
diff --git a/Media/materials/textures/mittig_neben_roboterplakat.png b/iai_kitchen_defs/Media/materials/textures/mittig_neben_roboterplakat.png
similarity index 100%
rename from Media/materials/textures/mittig_neben_roboterplakat.png
rename to iai_kitchen_defs/Media/materials/textures/mittig_neben_roboterplakat.png
diff --git a/Media/materials/textures/sink.png b/iai_kitchen_defs/Media/materials/textures/sink.png
similarity index 100%
rename from Media/materials/textures/sink.png
rename to iai_kitchen_defs/Media/materials/textures/sink.png
diff --git a/Media/materials/textures/stove.png b/iai_kitchen_defs/Media/materials/textures/stove.png
similarity index 100%
rename from Media/materials/textures/stove.png
rename to iai_kitchen_defs/Media/materials/textures/stove.png
diff --git a/Media/materials/textures/wallpaper.png b/iai_kitchen_defs/Media/materials/textures/wallpaper.png
similarity index 100%
rename from Media/materials/textures/wallpaper.png
rename to iai_kitchen_defs/Media/materials/textures/wallpaper.png
diff --git a/Media/materials/textures/wallpaper2.png b/iai_kitchen_defs/Media/materials/textures/wallpaper2.png
similarity index 100%
rename from Media/materials/textures/wallpaper2.png
rename to iai_kitchen_defs/Media/materials/textures/wallpaper2.png
diff --git a/Media/materials/textures/wallpaper_ai_unihb.png b/iai_kitchen_defs/Media/materials/textures/wallpaper_ai_unihb.png
similarity index 100%
rename from Media/materials/textures/wallpaper_ai_unihb.png
rename to iai_kitchen_defs/Media/materials/textures/wallpaper_ai_unihb.png
diff --git a/Media/materials/textures/wallpaper_project_logos.png b/iai_kitchen_defs/Media/materials/textures/wallpaper_project_logos.png
similarity index 100%
rename from Media/materials/textures/wallpaper_project_logos.png
rename to iai_kitchen_defs/Media/materials/textures/wallpaper_project_logos.png
diff --git a/Media/models/cash_register.urdf.xml b/iai_kitchen_defs/Media/models/cash_register.urdf.xml
similarity index 100%
rename from Media/models/cash_register.urdf.xml
rename to iai_kitchen_defs/Media/models/cash_register.urdf.xml
diff --git a/Media/models/chair.urdf.xml b/iai_kitchen_defs/Media/models/chair.urdf.xml
similarity index 100%
rename from Media/models/chair.urdf.xml
rename to iai_kitchen_defs/Media/models/chair.urdf.xml
diff --git a/Media/models/cnc.urdf.xml b/iai_kitchen_defs/Media/models/cnc.urdf.xml
similarity index 100%
rename from Media/models/cnc.urdf.xml
rename to iai_kitchen_defs/Media/models/cnc.urdf.xml
diff --git a/Media/models/glasses.urdf.xml b/iai_kitchen_defs/Media/models/glasses.urdf.xml
similarity index 100%
rename from Media/models/glasses.urdf.xml
rename to iai_kitchen_defs/Media/models/glasses.urdf.xml
diff --git a/Media/models/meshes/Cash_Register.dae b/iai_kitchen_defs/Media/models/meshes/Cash_Register.dae
similarity index 100%
rename from Media/models/meshes/Cash_Register.dae
rename to iai_kitchen_defs/Media/models/meshes/Cash_Register.dae
diff --git a/Media/models/meshes/Cash_Register/cash_register_keys.jpg b/iai_kitchen_defs/Media/models/meshes/Cash_Register/cash_register_keys.jpg
similarity index 100%
rename from Media/models/meshes/Cash_Register/cash_register_keys.jpg
rename to iai_kitchen_defs/Media/models/meshes/Cash_Register/cash_register_keys.jpg
diff --git a/Media/models/meshes/Chair.dae b/iai_kitchen_defs/Media/models/meshes/Chair.dae
similarity index 100%
rename from Media/models/meshes/Chair.dae
rename to iai_kitchen_defs/Media/models/meshes/Chair.dae
diff --git a/Media/models/meshes/Chair/__Wood-cherry_.jpg b/iai_kitchen_defs/Media/models/meshes/Chair/__Wood-cherry_.jpg
similarity index 100%
rename from Media/models/meshes/Chair/__Wood-cherry_.jpg
rename to iai_kitchen_defs/Media/models/meshes/Chair/__Wood-cherry_.jpg
diff --git a/Media/models/meshes/cnc.dae b/iai_kitchen_defs/Media/models/meshes/cnc.dae
similarity index 100%
rename from Media/models/meshes/cnc.dae
rename to iai_kitchen_defs/Media/models/meshes/cnc.dae
diff --git a/Media/models/meshes/cnc/Metal_Aluminum_Anodized_.jpg b/iai_kitchen_defs/Media/models/meshes/cnc/Metal_Aluminum_Anodized_.jpg
similarity index 100%
rename from Media/models/meshes/cnc/Metal_Aluminum_Anodized_.jpg
rename to iai_kitchen_defs/Media/models/meshes/cnc/Metal_Aluminum_Anodized_.jpg
diff --git a/Media/models/meshes/cnc/Metal_Corrogated_Shiny_.jpg b/iai_kitchen_defs/Media/models/meshes/cnc/Metal_Corrogated_Shiny_.jpg
similarity index 100%
rename from Media/models/meshes/cnc/Metal_Corrogated_Shiny_.jpg
rename to iai_kitchen_defs/Media/models/meshes/cnc/Metal_Corrogated_Shiny_.jpg
diff --git a/Media/models/meshes/cnc/Metal_Rough_.jpg b/iai_kitchen_defs/Media/models/meshes/cnc/Metal_Rough_.jpg
similarity index 100%
rename from Media/models/meshes/cnc/Metal_Rough_.jpg
rename to iai_kitchen_defs/Media/models/meshes/cnc/Metal_Rough_.jpg
diff --git a/Media/models/meshes/cnc/Metal_Seamed_.jpg b/iai_kitchen_defs/Media/models/meshes/cnc/Metal_Seamed_.jpg
similarity index 100%
rename from Media/models/meshes/cnc/Metal_Seamed_.jpg
rename to iai_kitchen_defs/Media/models/meshes/cnc/Metal_Seamed_.jpg
diff --git a/Media/models/meshes/glasses.dae b/iai_kitchen_defs/Media/models/meshes/glasses.dae
similarity index 100%
rename from Media/models/meshes/glasses.dae
rename to iai_kitchen_defs/Media/models/meshes/glasses.dae
diff --git a/Media/models/meshes/glasses/__Color_A05_4.png b/iai_kitchen_defs/Media/models/meshes/glasses/__Color_A05_4.png
similarity index 100%
rename from Media/models/meshes/glasses/__Color_A05_4.png
rename to iai_kitchen_defs/Media/models/meshes/glasses/__Color_A05_4.png
diff --git a/Media/models/meshes/test_glasses.dae b/iai_kitchen_defs/Media/models/meshes/test_glasses.dae
similarity index 100%
rename from Media/models/meshes/test_glasses.dae
rename to iai_kitchen_defs/Media/models/meshes/test_glasses.dae
diff --git a/Media/models/meshes/test_glasses/Water_Deep_.jpg b/iai_kitchen_defs/Media/models/meshes/test_glasses/Water_Deep_.jpg
similarity index 100%
rename from Media/models/meshes/test_glasses/Water_Deep_.jpg
rename to iai_kitchen_defs/Media/models/meshes/test_glasses/Water_Deep_.jpg
diff --git a/Media/models/meshes/test_glasses/Water_Pool_.jpg b/iai_kitchen_defs/Media/models/meshes/test_glasses/Water_Pool_.jpg
similarity index 100%
rename from Media/models/meshes/test_glasses/Water_Pool_.jpg
rename to iai_kitchen_defs/Media/models/meshes/test_glasses/Water_Pool_.jpg
diff --git a/Media/models/meshes/test_glasses/Water_Sparkling_.jpg b/iai_kitchen_defs/Media/models/meshes/test_glasses/Water_Sparkling_.jpg
similarity index 100%
rename from Media/models/meshes/test_glasses/Water_Sparkling_.jpg
rename to iai_kitchen_defs/Media/models/meshes/test_glasses/Water_Sparkling_.jpg
diff --git a/Media/models/meshes/wine_cooler.dae b/iai_kitchen_defs/Media/models/meshes/wine_cooler.dae
similarity index 100%
rename from Media/models/meshes/wine_cooler.dae
rename to iai_kitchen_defs/Media/models/meshes/wine_cooler.dae
diff --git a/Media/models/meshes/wine_cooler/__Blue_Glass_4.JPG b/iai_kitchen_defs/Media/models/meshes/wine_cooler/__Blue_Glass_4.JPG
similarity index 100%
rename from Media/models/meshes/wine_cooler/__Blue_Glass_4.JPG
rename to iai_kitchen_defs/Media/models/meshes/wine_cooler/__Blue_Glass_4.JPG
diff --git a/Media/models/meshes/wine_cooler/material_25.jpg b/iai_kitchen_defs/Media/models/meshes/wine_cooler/material_25.jpg
similarity index 100%
rename from Media/models/meshes/wine_cooler/material_25.jpg
rename to iai_kitchen_defs/Media/models/meshes/wine_cooler/material_25.jpg
diff --git a/Media/models/test_glasses.urdf.xml b/iai_kitchen_defs/Media/models/test_glasses.urdf.xml
similarity index 100%
rename from Media/models/test_glasses.urdf.xml
rename to iai_kitchen_defs/Media/models/test_glasses.urdf.xml
diff --git a/Media/models/wine_cooler.urdf.xml b/iai_kitchen_defs/Media/models/wine_cooler.urdf.xml
similarity index 100%
rename from Media/models/wine_cooler.urdf.xml
rename to iai_kitchen_defs/Media/models/wine_cooler.urdf.xml
diff --git a/defs/ias_kitchen/cuboid.xml b/iai_kitchen_defs/defs/ias_kitchen/cuboid.xml
similarity index 100%
rename from defs/ias_kitchen/cuboid.xml
rename to iai_kitchen_defs/defs/ias_kitchen/cuboid.xml
diff --git a/defs/ias_kitchen/fridge_block.xml b/iai_kitchen_defs/defs/ias_kitchen/fridge_block.xml
similarity index 100%
rename from defs/ias_kitchen/fridge_block.xml
rename to iai_kitchen_defs/defs/ias_kitchen/fridge_block.xml
diff --git a/defs/ias_kitchen/furniture_defs.xml b/iai_kitchen_defs/defs/ias_kitchen/furniture_defs.xml
similarity index 100%
rename from defs/ias_kitchen/furniture_defs.xml
rename to iai_kitchen_defs/defs/ias_kitchen/furniture_defs.xml
diff --git a/defs/ias_kitchen/island_block.xml b/iai_kitchen_defs/defs/ias_kitchen/island_block.xml
similarity index 100%
rename from defs/ias_kitchen/island_block.xml
rename to iai_kitchen_defs/defs/ias_kitchen/island_block.xml
diff --git a/defs/ias_kitchen/materials.xml b/iai_kitchen_defs/defs/ias_kitchen/materials.xml
similarity index 100%
rename from defs/ias_kitchen/materials.xml
rename to iai_kitchen_defs/defs/ias_kitchen/materials.xml
diff --git a/defs/ias_kitchen/oven_block.xml b/iai_kitchen_defs/defs/ias_kitchen/oven_block.xml
similarity index 100%
rename from defs/ias_kitchen/oven_block.xml
rename to iai_kitchen_defs/defs/ias_kitchen/oven_block.xml
diff --git a/defs/ias_kitchen/shopping_block.xml b/iai_kitchen_defs/defs/ias_kitchen/shopping_block.xml
similarity index 100%
rename from defs/ias_kitchen/shopping_block.xml
rename to iai_kitchen_defs/defs/ias_kitchen/shopping_block.xml
diff --git a/defs/ias_kitchen/sink_block.xml b/iai_kitchen_defs/defs/ias_kitchen/sink_block.xml
similarity index 100%
rename from defs/ias_kitchen/sink_block.xml
rename to iai_kitchen_defs/defs/ias_kitchen/sink_block.xml
diff --git a/defs/ias_kitchen/small_table.xml b/iai_kitchen_defs/defs/ias_kitchen/small_table.xml
similarity index 100%
rename from defs/ias_kitchen/small_table.xml
rename to iai_kitchen_defs/defs/ias_kitchen/small_table.xml
diff --git a/defs/ias_kitchen/table.xml b/iai_kitchen_defs/defs/ias_kitchen/table.xml
similarity index 100%
rename from defs/ias_kitchen/table.xml
rename to iai_kitchen_defs/defs/ias_kitchen/table.xml
diff --git a/defs/util_defs.xml b/iai_kitchen_defs/defs/util_defs.xml
similarity index 100%
rename from defs/util_defs.xml
rename to iai_kitchen_defs/defs/util_defs.xml
diff --git a/iai_kitchen_defs/package.xml b/iai_kitchen_defs/package.xml
new file mode 100644
index 0000000..0a6526c
--- /dev/null
+++ b/iai_kitchen_defs/package.xml
@@ -0,0 +1,17 @@
+<package>
+ <name>iai_semantic_maps</name>
+ <version>1.0.0</version>
+ <description>URDF description of the kitchen laboratory of the IAI in Bremen</description>
+
+ <maintainer email="winkler@cs.uni-bremen.de">Jan Winkler</maintainer>
+
+ <license>LGPL</license>
+
+ <author>Jan Winkler</author>
+
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <build_depend>xacro</build_depend>
+ <run_depend>xacro</run_depend>
+
+</package>
diff --git a/room/allInOne.urdf.xml b/iai_kitchen_defs/room/allInOne.urdf.xml
similarity index 100%
rename from room/allInOne.urdf.xml
rename to iai_kitchen_defs/room/allInOne.urdf.xml
diff --git a/room/bio_area.urdf.xml b/iai_kitchen_defs/room/bio_area.urdf.xml
similarity index 100%
rename from room/bio_area.urdf.xml
rename to iai_kitchen_defs/room/bio_area.urdf.xml
diff --git a/room/cnc_area.urdf.xml b/iai_kitchen_defs/room/cnc_area.urdf.xml
similarity index 100%
rename from room/cnc_area.urdf.xml
rename to iai_kitchen_defs/room/cnc_area.urdf.xml
diff --git a/room/colorTest.urdf.xml b/iai_kitchen_defs/room/colorTest.urdf.xml
similarity index 100%
rename from room/colorTest.urdf.xml
rename to iai_kitchen_defs/room/colorTest.urdf.xml
diff --git a/room/kitchen_area.urdf.xml b/iai_kitchen_defs/room/kitchen_area.urdf.xml
similarity index 100%
rename from room/kitchen_area.urdf.xml
rename to iai_kitchen_defs/room/kitchen_area.urdf.xml
diff --git a/room/lab_macros.xml b/iai_kitchen_defs/room/lab_macros.xml
similarity index 100%
rename from room/lab_macros.xml
rename to iai_kitchen_defs/room/lab_macros.xml
diff --git a/room/room.urdf.xml b/iai_kitchen_defs/room/room.urdf.xml
similarity index 100%
rename from room/room.urdf.xml
rename to iai_kitchen_defs/room/room.urdf.xml
diff --git a/room/shopping_area.urdf.xml b/iai_kitchen_defs/room/shopping_area.urdf.xml
similarity index 100%
rename from room/shopping_area.urdf.xml
rename to iai_kitchen_defs/room/shopping_area.urdf.xml
diff --git a/room/test.urdf.xml b/iai_kitchen_defs/room/test.urdf.xml
similarity index 100%
rename from room/test.urdf.xml
rename to iai_kitchen_defs/room/test.urdf.xml
diff --git a/room/worktables.urdf.xml b/iai_kitchen_defs/room/worktables.urdf.xml
similarity index 100%
rename from room/worktables.urdf.xml
rename to iai_kitchen_defs/room/worktables.urdf.xml
diff --git a/iai_maps/CMakeLists.txt b/iai_maps/CMakeLists.txt
new file mode 100644
index 0000000..cc6ae59
--- /dev/null
+++ b/iai_maps/CMakeLists.txt
@@ -0,0 +1,7 @@
+
+cmake_minimum_required(VERSION 2.8.3)
+project(iai_semantic_maps)
+
+find_package(catkin)
+
+catkin_package()
diff --git a/launch/iai_kitchen_in_rviz.launch b/iai_maps/launch/iai_kitchen_in_rviz.launch
similarity index 100%
rename from launch/iai_kitchen_in_rviz.launch
rename to iai_maps/launch/iai_kitchen_in_rviz.launch
diff --git a/launch/iai_maps.launch b/iai_maps/launch/iai_maps.launch
similarity index 100%
rename from launch/iai_maps.launch
rename to iai_maps/launch/iai_maps.launch
diff --git a/launch/iai_maps2.launch b/iai_maps/launch/iai_maps2.launch
similarity index 100%
rename from launch/iai_maps2.launch
rename to iai_maps/launch/iai_maps2.launch
diff --git a/launch/iai_maps_nogroundmap.launch b/iai_maps/launch/iai_maps_nogroundmap.launch
similarity index 100%
rename from launch/iai_maps_nogroundmap.launch
rename to iai_maps/launch/iai_maps_nogroundmap.launch
diff --git a/launch/iai_maps_restricted.launch b/iai_maps/launch/iai_maps_restricted.launch
similarity index 100%
rename from launch/iai_maps_restricted.launch
rename to iai_maps/launch/iai_maps_restricted.launch
diff --git a/launch/json.launch b/iai_maps/launch/json.launch
similarity index 100%
rename from launch/json.launch
rename to iai_maps/launch/json.launch
diff --git a/launch/kitchen_with_state_publisher.launch b/iai_maps/launch/kitchen_with_state_publisher.launch
similarity index 100%
rename from launch/kitchen_with_state_publisher.launch
rename to iai_maps/launch/kitchen_with_state_publisher.launch
diff --git a/launch/map.launch b/iai_maps/launch/map.launch
similarity index 100%
rename from launch/map.launch
rename to iai_maps/launch/map.launch
diff --git a/launch/map2.launch b/iai_maps/launch/map2.launch
similarity index 100%
rename from launch/map2.launch
rename to iai_maps/launch/map2.launch
diff --git a/launch/map_restricted.launch b/iai_maps/launch/map_restricted.launch
similarity index 100%
rename from launch/map_restricted.launch
rename to iai_maps/launch/map_restricted.launch
diff --git a/launch/maps_only.launch b/iai_maps/launch/maps_only.launch
similarity index 100%
rename from launch/maps_only.launch
rename to iai_maps/launch/maps_only.launch
diff --git a/launch/no-json.launch b/iai_maps/launch/no-json.launch
similarity index 100%
rename from launch/no-json.launch
rename to iai_maps/launch/no-json.launch
diff --git a/launch/room.launch b/iai_maps/launch/room.launch
similarity index 100%
rename from launch/room.launch
rename to iai_maps/launch/room.launch
diff --git a/launch/stp_pancake_table.launch b/iai_maps/launch/stp_pancake_table.launch
similarity index 100%
rename from launch/stp_pancake_table.launch
rename to iai_maps/launch/stp_pancake_table.launch
diff --git a/maps/map.pgm b/iai_maps/maps/map.pgm
similarity index 100%
rename from maps/map.pgm
rename to iai_maps/maps/map.pgm
diff --git a/maps/map.yaml b/iai_maps/maps/map.yaml
similarity index 100%
rename from maps/map.yaml
rename to iai_maps/maps/map.yaml
diff --git a/maps/map2.pgm b/iai_maps/maps/map2.pgm
similarity index 100%
rename from maps/map2.pgm
rename to iai_maps/maps/map2.pgm
diff --git a/maps/map2.yaml b/iai_maps/maps/map2.yaml
similarity index 100%
rename from maps/map2.yaml
rename to iai_maps/maps/map2.yaml
diff --git a/maps/map3.pgm b/iai_maps/maps/map3.pgm
similarity index 100%
rename from maps/map3.pgm
rename to iai_maps/maps/map3.pgm
diff --git a/maps/map3.yaml b/iai_maps/maps/map3.yaml
similarity index 100%
rename from maps/map3.yaml
rename to iai_maps/maps/map3.yaml
diff --git a/maps/map_restricted.pgm b/iai_maps/maps/map_restricted.pgm
similarity index 100%
rename from maps/map_restricted.pgm
rename to iai_maps/maps/map_restricted.pgm
diff --git a/maps/map_restricted.yaml b/iai_maps/maps/map_restricted.yaml
similarity index 100%
rename from maps/map_restricted.yaml
rename to iai_maps/maps/map_restricted.yaml
diff --git a/iai_maps/package.xml b/iai_maps/package.xml
new file mode 100644
index 0000000..224f6b0
--- /dev/null
+++ b/iai_maps/package.xml
@@ -0,0 +1,14 @@
+<package>
+ <name>iai_semantic_maps</name>
+ <version>1.0.0</version>
+ <description>Maps of the kitchen laboratory of the IAI in Bremen</description>
+
+ <maintainer email="winkler@cs.uni-bremen.de">Jan Winkler</maintainer>
+
+ <license>LGPL</license>
+
+ <author>Jan Winkler</author>
+
+ <buildtool_depend>catkin</buildtool_depend>
+
+</package>
diff --git a/iai_semantic_maps/CMakeLists.txt b/iai_semantic_maps/CMakeLists.txt
new file mode 100644
index 0000000..27c6396
--- /dev/null
+++ b/iai_semantic_maps/CMakeLists.txt
@@ -0,0 +1,9 @@
+
+cmake_minimum_required(VERSION 2.8.3)
+project(iai_semantic_maps)
+
+find_package(catkin REQUIRED COMPONENTS comp_spatial)
+
+catkin_package(
+ DEPENDS comp_spatial
+)
diff --git a/owl/iai_maps_addons.owl.in b/iai_semantic_maps/owl/iai_maps_addons.owl.in
similarity index 100%
rename from owl/iai_maps_addons.owl.in
rename to iai_semantic_maps/owl/iai_maps_addons.owl.in
diff --git a/owl/ias_map_addons.owl.in b/iai_semantic_maps/owl/ias_map_addons.owl.in
similarity index 100%
rename from owl/ias_map_addons.owl.in
rename to iai_semantic_maps/owl/ias_map_addons.owl.in
diff --git a/owl/room.owl.in b/iai_semantic_maps/owl/room.owl.in
similarity index 100%
rename from owl/room.owl.in
rename to iai_semantic_maps/owl/room.owl.in
diff --git a/iai_semantic_maps/package.xml b/iai_semantic_maps/package.xml
new file mode 100644
index 0000000..1276232
--- /dev/null
+++ b/iai_semantic_maps/package.xml
@@ -0,0 +1,21 @@
+<package>
+ <name>iai_semantic_maps</name>
+ <version>1.0.0</version>
+ <description>Semantic maps of laboratories of the IAI in Bremen</description>
+
+ <maintainer email="tenorth@cs.uni-bremen.de">Moritz Tenorth</maintainer>
+
+ <license>LGPL</license>
+
+ <url type="website">http://www.ros.org/wiki/knowrob_map_data</url>
+ <url type="bugtracker">https://github.com/knowrob/knowrob/issues</url>
+
+ <author>Jan Winkler</author>
+ <author>Moritz Tenorth</author>
+
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <build_depend>comp_spatial</build_depend>
+ <run_depend>comp_spatial</run_depend>
+
+</package>
diff --git a/prolog/iai_maps.pl b/iai_semantic_maps/prolog/iai_maps.pl
similarity index 100%
rename from prolog/iai_maps.pl
rename to iai_semantic_maps/prolog/iai_maps.pl
diff --git a/prolog/iai_maps_addons.pl.in b/iai_semantic_maps/prolog/iai_maps_addons.pl.in
similarity index 100%
rename from prolog/iai_maps_addons.pl.in
rename to iai_semantic_maps/prolog/iai_maps_addons.pl.in
diff --git a/prolog/init.pl.in b/iai_semantic_maps/prolog/init.pl.in
similarity index 100%
rename from prolog/init.pl.in
rename to iai_semantic_maps/prolog/init.pl.in
diff --git a/prolog/room.pl.in b/iai_semantic_maps/prolog/room.pl.in
similarity index 100%
rename from prolog/room.pl.in
rename to iai_semantic_maps/prolog/room.pl.in
diff --git a/prolog/semantic_map_utils.pl b/iai_semantic_maps/prolog/semantic_map_utils.pl
similarity index 100%
rename from prolog/semantic_map_utils.pl
rename to iai_semantic_maps/prolog/semantic_map_utils.pl
diff --git a/mainpage.dox b/mainpage.dox
deleted file mode 100644
index 6464eb7..0000000
--- a/mainpage.dox
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b iai_maps
-
-<!--
-Provide an overview of your package.
--->
-
--->
-
-
-*/
diff --git a/manifest.xml b/manifest.xml
deleted file mode 100644
index 2738bfc..0000000
--- a/manifest.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<package>
- <description brief="iai_maps">
-
- iai_maps
-
- </description>
- <author>Jan Winkler</author>
- <license>BSD</license>
- <review status="unreviewed" notes=""/>
- <url>http://ros.org/wiki/iai_maps</url>
-
- <depend package="comp_spatial" />
- <depend package="comp_orgprinciples" />
- <depend package="knowrob_cad_models" />
- <depend package="knowrob_cad_parser" />
- <depend package="robot_state_chain_publisher" />
- <depend package="json_prolog" />
-<!-- <depend package="ias_semantic_map" /> -->
-
-</package>
-
-
diff --git a/rviz_configs/iai_kitchen_only.rviz b/rviz_configs/iai_kitchen_only.rviz
deleted file mode 100644
index 13a91f7..0000000
--- a/rviz_configs/iai_kitchen_only.rviz
+++ /dev/null
@@ -1,937 +0,0 @@
-Panels:
- - Class: rviz/Displays
- Help Height: 78
- Name: Displays
- Property Tree Widget:
- Expanded:
- - /Global Options1
- - /Status1
- - /RobotModel1
- Splitter Ratio: 0.5
- Tree Height: 565
- - Class: rviz/Selection
- Name: Selection
- - Class: rviz/Tool Properties
- Expanded:
- - /2D Pose Estimate1
- - /2D Nav Goal1
- - /Publish Point1
- Name: Tool Properties
- Splitter Ratio: 0.588679
- - Class: rviz/Views
- Expanded:
- - /Current View1
- Name: Views
- Splitter Ratio: 0.5
- - Class: rviz/Time
- Experimental: false
- Name: Time
- SyncMode: 0
- SyncSource: ""
-Visualization Manager:
- Class: ""
- Displays:
- - Alpha: 0.5
- Cell Size: 1
- Class: rviz/Grid
- Color: 160; 160; 164
- Enabled: true
- Line Style:
- Line Width: 0.03
- Value: Lines
- Name: Grid
- Normal Cell Count: 0
- Offset:
- X: 0
- Y: 0
- Z: 0
- Plane: XY
- Plane Cell Count: 10
- Reference Frame: <Fixed Frame>
- Value: true
- - Alpha: 1
- Class: rviz/RobotModel
- Collision Enabled: true
- Enabled: true
- Links:
- All Links Enabled: true
- Expand Joint Details: false
- Expand Link Details: false
- Expand Tree: false
- Link Tree Style: Links in Alphabetic Order
- counter_bottom_fridge_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- counter_middle_fridge_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- counter_side_fridge_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- counter_side_fridge_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- counter_side_island_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- counter_side_island_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- counter_side_island_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- counter_side_sink_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- counter_side_sink_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- counter_top_fridge_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- counter_top_island_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- counter_top_oven_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- counter_top_sink_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_fridge_bottom_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_fridge_bottom_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_fridge_bottom_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_fridge_bottom_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_fridge_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_fridge_bottom_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_bottom_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_bottom_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_bottom_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_island_col1_bottom_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_bottom_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_center_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_center_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_center_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_island_col1_center_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_center_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_center_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_top_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_top_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_top_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_island_col1_top_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_top_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col1_top_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_bottom_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_bottom_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_bottom_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_island_col2_bottom_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_bottom_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_center_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_center_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_center_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_island_col2_center_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_center_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_center_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_top_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_top_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_top_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_island_col2_top_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_top_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col2_top_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_bottom_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_bottom_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_bottom_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_island_col3_bottom_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_bottom_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_center_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_center_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_center_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_island_col3_center_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_center_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_center_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_top_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_top_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_top_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_island_col3_top_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_top_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_island_col3_top_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_bottom_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_bottom_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_bottom_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_oven_bottom_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_bottom_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_center_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_center_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_center_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_oven_center_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_center_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_center_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_left_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_oven_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_oven_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_oven_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_oven_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_oven_oven_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_oven_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_oven_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_oven_right_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_oven_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_bottom_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_bottom_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_bottom_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_sink_col1_bottom_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_bottom_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_center_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_center_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_center_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_sink_col1_center_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_center_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_center_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_top_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_top_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_top_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_sink_col1_top_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_top_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col1_top_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col2_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col2_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col2_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_sink_col2_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col2_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col2_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col3_bottom_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col3_bottom_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col3_bottom_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_sink_col3_bottom_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col3_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col3_bottom_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col3_top_back_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col3_top_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col3_top_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- drawer_sink_col3_top_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col3_top_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- drawer_sink_col3_top_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fridge_block_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- fridge_fixed_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- fridge_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_fridge_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_island_col1_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_island_col1_center_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_island_col1_top_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_island_col2_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_island_col2_center_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_island_col2_top_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_island_col3_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_island_col3_center_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_island_col3_top_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_oven_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_oven_center_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_oven_left_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_oven_oven_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_oven_right_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_sink_col1_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_sink_col1_center_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_sink_col1_top_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_sink_col2_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_sink_col3_bottom_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_drawer_sink_col3_top_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- handle_fridge_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- island_block_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- kitchen_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- oven_block_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- sink_block_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- sink_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- skirting_fridge_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- skirting_island_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- skirting_oven_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- skirting_sink_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- stove_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- white_counter_top_island_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- white_counter_top_sink_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- Name: RobotModel
- Robot Description: kitchen_description
- TF Prefix: iai_kitchen
- Update Interval: 0
- Value: true
- Visual Enabled: true
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Fixed Frame: /map
- Name: root
- Tools:
- - Class: rviz/Interact
- Hide Inactive Objects: true
- - Class: rviz/MoveCamera
- - Class: rviz/Select
- - Class: rviz/FocusCamera
- - Class: rviz/Measure
- - Class: rviz/SetInitialPose
- Topic: /initialpose
- - Class: rviz/SetGoal
- Topic: /move_base_simple/goal
- - Class: rviz/PublishPoint
- Single click: true
- Topic: /clicked_point
- Value: true
- Views:
- Current:
- Class: rviz/Orbit
- Distance: 8.64982
- Focal Point:
- X: 0
- Y: 0
- Z: 0
- Name: Current View
- Near Clip Distance: 0.01
- Pitch: 0.750398
- Target Frame: <Fixed Frame>
- Value: Orbit (rviz)
- Yaw: 4.0804
- Saved: ~
-Window Geometry:
- Displays:
- collapsed: false
- Height: 846
- Hide Left Dock: false
- Hide Right Dock: false
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From ffcb71f1e35222d1a6307ea8d7769af60fa161a5 Mon Sep 17 00:00:00 2001
From: Moritz Tenorth <tenorth@cs.uni-bremen.de>
Date: Fri, 1 Aug 2014 15:27:28 +0200
Subject: [PATCH 2/8] adapted OWL and Prolog files. Most Prolog files are not
needed any more since the map utils have been moved to knowrob_map_tools
---
iai_semantic_maps/owl/iai_maps_addons.owl | 404 +++
iai_semantic_maps/owl/iai_maps_addons.owl.in | 408 ---
iai_semantic_maps/owl/ias_map_addons.owl.in | 274 --
iai_semantic_maps/owl/room.owl | 2892 ++++++++++++++++
iai_semantic_maps/owl/room.owl.in | 2897 -----------------
iai_semantic_maps/prolog/iai_maps.pl | 58 -
.../prolog/iai_maps_addons.pl.in | 29 -
.../prolog/{room.pl.in => init.pl} | 17 +-
iai_semantic_maps/prolog/init.pl.in | 48 -
.../prolog/semantic_map_utils.pl | 194 --
10 files changed, 3301 insertions(+), 3920 deletions(-)
create mode 100644 iai_semantic_maps/owl/iai_maps_addons.owl
delete mode 100644 iai_semantic_maps/owl/iai_maps_addons.owl.in
delete mode 100644 iai_semantic_maps/owl/ias_map_addons.owl.in
create mode 100644 iai_semantic_maps/owl/room.owl
delete mode 100644 iai_semantic_maps/owl/room.owl.in
delete mode 100644 iai_semantic_maps/prolog/iai_maps.pl
delete mode 100644 iai_semantic_maps/prolog/iai_maps_addons.pl.in
rename iai_semantic_maps/prolog/{room.pl.in => init.pl} (57%)
delete mode 100644 iai_semantic_maps/prolog/init.pl.in
delete mode 100644 iai_semantic_maps/prolog/semantic_map_utils.pl
diff --git a/iai_semantic_maps/owl/iai_maps_addons.owl b/iai_semantic_maps/owl/iai_maps_addons.owl
new file mode 100644
index 0000000..f37b4ee
--- /dev/null
+++ b/iai_semantic_maps/owl/iai_maps_addons.owl
@@ -0,0 +1,404 @@
+<?xml version="1.0"?>
+<!DOCTYPE rdf:RDF [
+ <!ENTITY owl "http://www.w3.org/2002/07/owl#" >
+ <!ENTITY xsd "http://www.w3.org/2001/XMLSchema#" >
+ <!ENTITY knowrob "http://ias.cs.tum.edu/kb/knowrob.owl#" >
+ <!ENTITY rdfs "http://www.w3.org/2000/01/rdf-schema#" >
+ <!ENTITY rdf "http://www.w3.org/1999/02/22-rdf-syntax-ns#" >
+ <!ENTITY iai_maps "http://ias.cs.tum.edu/kb/room.owl#" >
+]>
+
+<rdf:RDF xmlns="http://ias.cs.tum.edu/kb/iai_maps_addons.owl#"
+ xml:base="http://ias.cs.tum.edu/kb/iai_maps_addons.owl"
+ xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
+ xmlns:map="http://ias.cs.tum.edu/kb/iai_maps_addons.owl#"
+ xmlns:owl="http://www.w3.org/2002/07/owl#"
+ xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns:knowrob="http://ias.cs.tum.edu/kb/knowrob.owl#">
+ <owl:Ontology rdf:about="http://ias.cs.tum.edu/kb/room.owl#">
+ <owl:imports rdf:resource="package://knowrob_common/owl/knowrob.owl"/>
+ </owl:Ontology>
+
+
+
+ <!-- &knowrob;describedInMap -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;describedInMap"/>
+
+
+
+ <!-- &knowrob;eventOccursAt -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;eventOccursAt"/>
+
+
+
+ <!-- &knowrob;hingedTo -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;hingedTo"/>
+
+
+
+ <!-- &knowrob;objectActedOn -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;objectActedOn"/>
+
+
+
+ <!-- &knowrob;properPhysicalParts -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;properPhysicalParts"/>
+
+
+
+ <!-- &knowrob;startTime -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;startTime"/>
+
+
+
+ <!--
+ ///////////////////////////////////////////////////////////////////////////////////////
+ //
+ // Data properties
+ //
+ ///////////////////////////////////////////////////////////////////////////////////////
+ -->
+
+
+
+
+ <!-- &knowrob;depthOfObject -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;depthOfObject"/>
+
+
+
+ <!-- &knowrob;heightOfObject -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;heightOfObject"/>
+
+
+
+ <!-- &knowrob;m00 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m00"/>
+
+
+
+ <!-- &knowrob;m01 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m01"/>
+
+
+
+ <!-- &knowrob;m02 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m02"/>
+
+
+
+ <!-- &knowrob;m03 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m03"/>
+
+
+
+ <!-- &knowrob;m10 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m10"/>
+
+
+
+ <!-- &knowrob;m11 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m11"/>
+
+
+
+ <!-- &knowrob;m12 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m12"/>
+
+
+
+ <!-- &knowrob;m13 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m13"/>
+
+
+
+ <!-- &knowrob;m20 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m20"/>
+
+
+
+ <!-- &knowrob;m21 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m21"/>
+
+
+
+ <!-- &knowrob;m22 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m22"/>
+
+
+
+ <!-- &knowrob;m23 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m23"/>
+
+
+
+ <!-- &knowrob;m30 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m30"/>
+
+
+
+ <!-- &knowrob;m31 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m31"/>
+
+
+
+ <!-- &knowrob;m32 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m32"/>
+
+
+
+ <!-- &knowrob;m33 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m33"/>
+
+
+
+ <!-- &knowrob;widthOfObject -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;widthOfObject"/>
+
+
+
+ <!--
+ ///////////////////////////////////////////////////////////////////////////////////////
+ //
+ // Classes
+ //
+ ///////////////////////////////////////////////////////////////////////////////////////
+ -->
+
+
+
+ <!--
+ ///////////////////////////////////////////////////////////////////////////////////////
+ //
+ // Individuals
+ //
+ ///////////////////////////////////////////////////////////////////////////////////////
+ -->
+
+
+
+ <!-- Spatula in DRAWER_SINKBLOCK_UPPER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;spatula_2VM8LmKUgp">
+ <rdf:type rdf:resource="&knowrob;Spatula"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.1</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.1</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.1</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_spatula_2VM8LmKUgp">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_spatula_2VM8LmKUgp"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;spatula_2VM8LmKUgp"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_spatula_2VM8LmKUgp">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.75</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.9</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- Spatula in DRAWER_SINKBLOCK_MIDDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;spatula_j21J4f51v9">
+ <rdf:type rdf:resource="&knowrob;Spatula"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.1</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.1</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.1</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0"/>
+ </owl:NamedIndividual>
+
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_spatula_j21J4f51v9">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_spatula_j21J4f51v9"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;spatula_j21J4f51v9"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_spatula_j21J4f51v9">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.53</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.9</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- Cup in DRAWER_SINKBLOCK_DISHWASHER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;cup_G75K5C28Ry">
+ <rdf:type rdf:resource="&knowrob;Cup"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.1</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.1</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.1</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_cup_G75K5C28Ry">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_cup_G75K5C28Ry"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;cup_G75K5C28Ry"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_cup_G75K5C28Ry">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.46</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.2</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- Milk in &knowrob;kitchen_fridge_block -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;milk_Ot55666J2W">
+ <rdf:type rdf:resource="&knowrob;Milk"/>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.1</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.1</knowrob:widthOfObject>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.1</knowrob:heightOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0"/>
+ </owl:NamedIndividual>
+
+
+ <!-- Milk Perception &knowrob;SemanticMapPerception4milk_Ot55666J2W -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception4milk_Ot55666J2W">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D3milk_Ot55666J2W"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;milk_Ot55666J2W"/>
+ </owl:NamedIndividual>
+
+
+ <!-- &knowrob;RotationMatrix3D3milk_Ot55666J2W -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D3milk_Ot55666J2W">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m13 rdf:datatype="&xsd;double">-1.056866</knowrob:m13>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.755</knowrob:m23>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.53787</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- Mondamin on KITCHEN_ISLAND_COUNTER_TOP -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;mondamin_9s8aasf675f">
+ <rdf:type rdf:resource="&knowrob;Mondamin"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.12</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.03</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.06</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_mondamin_9s8aasf675f">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_mondamin_9s8aasf675f"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;mondamin_9s8aasf675f"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_mondamin_9s8aasf675f">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.75</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.9</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+</rdf:RDF>
diff --git a/iai_semantic_maps/owl/iai_maps_addons.owl.in b/iai_semantic_maps/owl/iai_maps_addons.owl.in
deleted file mode 100644
index a64034b..0000000
--- a/iai_semantic_maps/owl/iai_maps_addons.owl.in
+++ /dev/null
@@ -1,408 +0,0 @@
-<?xml version="1.0"?>
-<!DOCTYPE rdf:RDF [
- <!ENTITY local_path 'file://@OWL_PATH_PREFIX@/owl/'>
- <!ENTITY owl "http://www.w3.org/2002/07/owl#" >
- <!ENTITY owl2 "http://www.w3.org/2006/12/owl2#" >
- <!ENTITY xsd "http://www.w3.org/2001/XMLSchema#" >
- <!ENTITY owl2xml "http://www.w3.org/2006/12/owl2-xml#" >
- <!ENTITY knowrob "http://ias.cs.tum.edu/kb/knowrob.owl#" >
- <!ENTITY rdfs "http://www.w3.org/2000/01/rdf-schema#" >
- <!ENTITY rdf "http://www.w3.org/1999/02/22-rdf-syntax-ns#" >
- <!ENTITY iai_maps "http://ias.cs.tum.edu/kb/room.owl#" >
- <!ENTITY protege "http://protege.stanford.edu/plugins/owl/protege#" >
-]>
-
-<rdf:RDF xmlns="http://ias.cs.tum.edu/kb/iai_maps_addons.owl#"
- xml:base="http://ias.cs.tum.edu/kb/iai_maps_addons.owl"
- xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
- xmlns:map="http://ias.cs.tum.edu/kb/iai_maps_addons.owl#"
- xmlns:owl="http://www.w3.org/2002/07/owl#"
- xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
- xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
- xmlns:knowrob="http://ias.cs.tum.edu/kb/knowrob.owl#">
- <owl:Ontology rdf:about="http://ias.cs.tum.edu/kb/room.owl#">
- <owl:imports rdf:resource="&local_path;knowrob.owl"/>
- </owl:Ontology>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#describedInMap -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#describedInMap"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#eventOccursAt -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#eventOccursAt"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#hingedTo -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#hingedTo"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#objectActedOn -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#objectActedOn"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#properPhysicalParts -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#properPhysicalParts"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#startTime -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#startTime"/>
-
-
-
- <!--
- ///////////////////////////////////////////////////////////////////////////////////////
- //
- // Data properties
- //
- ///////////////////////////////////////////////////////////////////////////////////////
- -->
-
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#depthOfObject -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#depthOfObject"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#heightOfObject -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#heightOfObject"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m00 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m00"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m01 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m01"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m02 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m02"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m03 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m03"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m10 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m10"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m11 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m11"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m12 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m12"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m13 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m13"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m20 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m20"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m21 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m21"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m22 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m22"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m23 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m23"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m30 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m30"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m31 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m31"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m32 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m32"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m33 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m33"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#widthOfObject -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#widthOfObject"/>
-
-
-
- <!--
- ///////////////////////////////////////////////////////////////////////////////////////
- //
- // Classes
- //
- ///////////////////////////////////////////////////////////////////////////////////////
- -->
-
-
-
- <!--
- ///////////////////////////////////////////////////////////////////////////////////////
- //
- // Individuals
- //
- ///////////////////////////////////////////////////////////////////////////////////////
- -->
-
-
-
- <!-- Spatula in DRAWER_SINKBLOCK_UPPER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#spatula_2VM8LmKUgp">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Spatula"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.1</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.1</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.1</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_spatula_2VM8LmKUgp">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_spatula_2VM8LmKUgp"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#spatula_2VM8LmKUgp"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_spatula_2VM8LmKUgp">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.75</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.9</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- Spatula in DRAWER_SINKBLOCK_MIDDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#spatula_j21J4f51v9">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Spatula"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.1</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.1</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.1</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0"/>
- </owl:NamedIndividual>
-
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_spatula_j21J4f51v9">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_spatula_j21J4f51v9"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#spatula_j21J4f51v9"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_spatula_j21J4f51v9">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.53</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.9</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- Cup in DRAWER_SINKBLOCK_DISHWASHER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#cup_G75K5C28Ry">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Cup"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.1</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.1</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.1</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_cup_G75K5C28Ry">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_cup_G75K5C28Ry"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#cup_G75K5C28Ry"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_cup_G75K5C28Ry">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.46</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.2</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- Milk in http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_fridge_block -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#milk_Ot55666J2W">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Milk"/>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.1</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.1</knowrob:widthOfObject>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.1</knowrob:heightOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0"/>
- </owl:NamedIndividual>
-
-
- <!-- Milk Perception http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception4milk_Ot55666J2W -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception4milk_Ot55666J2W">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D3milk_Ot55666J2W"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#milk_Ot55666J2W"/>
- </owl:NamedIndividual>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D3milk_Ot55666J2W -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D3milk_Ot55666J2W">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.056866</knowrob:m13>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.755</knowrob:m23>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.53787</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- Mondamin on KITCHEN_ISLAND_COUNTER_TOP -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#mondamin_9s8aasf675f">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Mondamin"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.12</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.03</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.06</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_mondamin_9s8aasf675f">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_mondamin_9s8aasf675f"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#mondamin_9s8aasf675f"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_mondamin_9s8aasf675f">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.75</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.9</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-</rdf:RDF>
diff --git a/iai_semantic_maps/owl/ias_map_addons.owl.in b/iai_semantic_maps/owl/ias_map_addons.owl.in
deleted file mode 100644
index f64e783..0000000
--- a/iai_semantic_maps/owl/ias_map_addons.owl.in
+++ /dev/null
@@ -1,274 +0,0 @@
-<?xml version="1.0"?>
-
-
-<!DOCTYPE rdf:RDF [
- <!ENTITY local_path 'file://@OWL_PATH_PREFIX@/owl/'>
- <!ENTITY owl "http://www.w3.org/2002/07/owl#" >
- <!ENTITY xsd "http://www.w3.org/2001/XMLSchema#" >
- <!ENTITY owl2xml "http://www.w3.org/2006/12/owl2-xml#" >
- <!ENTITY rdfs "http://www.w3.org/2000/01/rdf-schema#" >
- <!ENTITY rdf "http://www.w3.org/1999/02/22-rdf-syntax-ns#" >
- <!ENTITY knowrob "http://ias.cs.tum.edu/kb/knowrob.owl#" >
- <!ENTITY map_addons "http://ias.cs.tum.edu/kb/ias_map_addons.owl#" >
-]>
-
-
-<rdf:RDF xmlns="http://ias.cs.tum.edu/kb/ias_map_addons.owl#"
- xml:base="http://ias.cs.tum.edu/kb/ias_map_addons.owl#"
- xmlns:ias_map="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#"
- xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
- xmlns:map_addons="http://ias.cs.tum.edu/kb/map_addons.owl#"
- xmlns:owl2xml="http://www.w3.org/2006/12/owl2-xml#"
- xmlns:owl="http://www.w3.org/2002/07/owl#"
- xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
- xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
- xmlns:knowrob="http://ias.cs.tum.edu/kb/knowrob.owl#">
- <owl:Ontology rdf:about="">
- <owl:imports rdf:resource="&local_path;knowrob.owl"/>
- </owl:Ontology>
-
-
-
- <!--
- ///////////////////////////////////////////////////////////////////////////////////////
- //
- // Object Properties
- //
- ///////////////////////////////////////////////////////////////////////////////////////
- -->
-
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#orientation -->
-
- <owl:ObjectProperty rdf:about="&knowrob;orientation"/>
-
-
-
- <!--
- ///////////////////////////////////////////////////////////////////////////////////////
- //
- // Data properties
- //
- ///////////////////////////////////////////////////////////////////////////////////////
- -->
-
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#heightOfObject -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;heightOfObject"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#lengthOfObject -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;lengthOfObject"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m00 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m00"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m01 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m01"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m02 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m02"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m03 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m03"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m10 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m10"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m11 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m11"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m12 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m12"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m13 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m13"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m20 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m20"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m21 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m21"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m22 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m22"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m23 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m23"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m30 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m30"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m31 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m31"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m32 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m32"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m33 -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;m33"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#widthOfObject -->
-
- <owl:DatatypeProperty rdf:about="&knowrob;widthOfObject"/>
-
-
-
- <!--
- ///////////////////////////////////////////////////////////////////////////////////////
- //
- // Classes
- //
- ///////////////////////////////////////////////////////////////////////////////////////
- -->
-
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#KitchenTable -->
-
- <owl:Class rdf:about="&knowrob;KitchenTable"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D -->
-
- <owl:Class rdf:about="&knowrob;RotationMatrix3D"/>
-
-
-
- <!--
- ///////////////////////////////////////////////////////////////////////////////////////
- //
- // Individuals
- //
- ///////////////////////////////////////////////////////////////////////////////////////
- -->
-
- <knowrob:SemanticMapPerception rdf:about="#SemanticMapPerception_192">
- <knowrob:objectActedOn rdf:resource="#table0"/>
- <knowrob:eventOccursAt rdf:resource="#rotationmatrix3d_table"/>
- <knowrob:startTime rdf:resource="#timepoint_1271159865.00"/>
- </knowrob:SemanticMapPerception>
-
- <knowrob:KitchenTable rdf:about="#table0">
- <knowrob:heightOfObject rdf:datatype="&xsd;float">0.73</knowrob:heightOfObject>
- <knowrob:widthOfObject rdf:datatype="&xsd;float">0.80</knowrob:widthOfObject>
- <knowrob:depthOfObject rdf:datatype="&xsd;float">1.22</knowrob:depthOfObject>
- </knowrob:KitchenTable>
-
- <knowrob:RotationMatrix3D rdf:about="#rotationmatrix3d_table">
- <knowrob:m00 rdf:datatype="&xsd;float">0.00</knowrob:m00>
- <knowrob:m01 rdf:datatype="&xsd;float">-1.00</knowrob:m01>
- <knowrob:m02 rdf:datatype="&xsd;float">0.00</knowrob:m02>
- <knowrob:m03 rdf:datatype="&xsd;float">3.85</knowrob:m03>
-
- <knowrob:m10 rdf:datatype="&xsd;float">1.00</knowrob:m10>
- <knowrob:m11 rdf:datatype="&xsd;float">0.0</knowrob:m11>
- <knowrob:m12 rdf:datatype="&xsd;float">0.00</knowrob:m12>
- <knowrob:m13 rdf:datatype="&xsd;float">2.50</knowrob:m13>
-
- <knowrob:m20 rdf:datatype="&xsd;float">0.00</knowrob:m20>
- <knowrob:m21 rdf:datatype="&xsd;float">0.00</knowrob:m21>
- <knowrob:m22 rdf:datatype="&xsd;float">1.00</knowrob:m22>
- <knowrob:m23 rdf:datatype="&xsd;float">0.590</knowrob:m23>
-
- <knowrob:m30 rdf:datatype="&xsd;float">0.00</knowrob:m30>
- <knowrob:m31 rdf:datatype="&xsd;float">0.00</knowrob:m31>
- <knowrob:m32 rdf:datatype="&xsd;float">0.00</knowrob:m32>
- <knowrob:m33 rdf:datatype="&xsd;float">1.0</knowrob:m33>
- </knowrob:RotationMatrix3D>
-
-
-
- <knowrob:SemanticMapPerception rdf:about="#SemanticMapPerception_193">
- <knowrob:objectActedOn rdf:resource="#counter0"/>
- <knowrob:eventOccursAt rdf:resource="#rotationmatrix3d_counter"/>
- <knowrob:startTime rdf:resource="#timepoint_1271159865.00"/>
- </knowrob:SemanticMapPerception>
-
- <knowrob:CounterTop rdf:about="#counter0">
- <knowrob:heightOfObject rdf:datatype="&xsd;float">0.03</knowrob:heightOfObject>
- <knowrob:widthOfObject rdf:datatype="&xsd;float">2.20</knowrob:widthOfObject>
- <knowrob:depthOfObject rdf:datatype="&xsd;float">0.60</knowrob:depthOfObject>
- </knowrob:CounterTop>
-
- <knowrob:RotationMatrix3D rdf:about="#rotationmatrix3d_counter">
- <knowrob:m00 rdf:datatype="&xsd;float">1.00</knowrob:m00>
- <knowrob:m01 rdf:datatype="&xsd;float">0.00</knowrob:m01>
- <knowrob:m02 rdf:datatype="&xsd;float">0.00</knowrob:m02>
- <knowrob:m10 rdf:datatype="&xsd;float">0.00</knowrob:m10>
- <knowrob:m11 rdf:datatype="&xsd;float">1.00</knowrob:m11>
- <knowrob:m12 rdf:datatype="&xsd;float">0.00</knowrob:m12>
- <knowrob:m20 rdf:datatype="&xsd;float">0.00</knowrob:m20>
- <knowrob:m21 rdf:datatype="&xsd;float">0.00</knowrob:m21>
- <knowrob:m22 rdf:datatype="&xsd;float">1.00</knowrob:m22>
- <knowrob:m30 rdf:datatype="&xsd;float">0.00</knowrob:m30>
- <knowrob:m31 rdf:datatype="&xsd;float">0.00</knowrob:m31>
- <knowrob:m32 rdf:datatype="&xsd;float">0.00</knowrob:m32>
- <knowrob:m03 rdf:datatype="&xsd;float">0.33</knowrob:m03>
- <knowrob:m13 rdf:datatype="&xsd;float">2.80</knowrob:m13>
- <knowrob:m23 rdf:datatype="&xsd;float">1.09</knowrob:m23>
- <knowrob:m33 rdf:datatype="&xsd;float">1.0</knowrob:m33>
- </knowrob:RotationMatrix3D>
-
-
-</rdf:RDF>
-
diff --git a/iai_semantic_maps/owl/room.owl b/iai_semantic_maps/owl/room.owl
new file mode 100644
index 0000000..c60591e
--- /dev/null
+++ b/iai_semantic_maps/owl/room.owl
@@ -0,0 +1,2892 @@
+<?xml version="1.0"?>
+<!DOCTYPE rdf:RDF [
+ <!ENTITY owl "http://www.w3.org/2002/07/owl#" >
+ <!ENTITY xsd "http://www.w3.org/2001/XMLSchema#" >
+ <!ENTITY knowrob "http://ias.cs.tum.edu/kb/knowrob.owl#" >
+ <!ENTITY rdfs "http://www.w3.org/2000/01/rdf-schema#" >
+ <!ENTITY rdf "http://www.w3.org/1999/02/22-rdf-syntax-ns#" >
+]>
+
+<rdf:RDF xmlns="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#"
+ xml:base="http://ias.cs.tum.edu/kb/ias_semantic_map.owl"
+ xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
+ xmlns:map="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#"
+ xmlns:owl="http://www.w3.org/2002/07/owl#"
+ xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns:knowrob="http://ias.cs.tum.edu/kb/knowrob.owl#">
+ <owl:Ontology rdf:about="http://ias.cs.tum.edu/kb/room.owl#">
+ <owl:imports rdf:resource="package://knowrob_common/owl/knowrob.owl"/>
+ </owl:Ontology>
+
+
+
+ <!--
+ ///////////////////////////////////////////////////////////////////////////////////////
+ //
+ // Object Properties
+ //
+ ///////////////////////////////////////////////////////////////////////////////////////
+ -->
+
+ <!-- &knowrob;describedInMap -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;describedInMap"/>
+
+
+ <!-- &knowrob;eventOccursAt -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;eventOccursAt"/>
+
+
+ <!-- &knowrob;objectActedOn -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;objectActedOn"/>
+
+
+ <!-- &knowrob;properPhysicalParts -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;properPhysicalParts"/>
+
+
+ <!-- &knowrob;startTime -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;startTime"/>
+
+
+ <!-- &knowrob;prismaticallyConnectedTo -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;prismaticallyConnectedTo"/>
+
+
+ <!-- &knowrob;hingedTo -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;hingedTo"/>
+
+
+ <!-- &knowrob;connectedTo-Rigidly -->
+
+ <owl:ObjectProperty rdf:about="&knowrob;connectedTo-Rigidly"/>
+
+
+ <!--
+ ///////////////////////////////////////////////////////////////////////////////////////
+ //
+ // Data properties
+ //
+ ///////////////////////////////////////////////////////////////////////////////////////
+ -->
+
+
+
+
+ <!-- &knowrob;depthOfObject -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;depthOfObject"/>
+
+
+
+ <!-- &knowrob;heightOfObject -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;heightOfObject"/>
+
+
+
+ <!-- &knowrob;m00 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m00"/>
+
+
+
+ <!-- &knowrob;m01 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m01"/>
+
+
+
+ <!-- &knowrob;m02 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m02"/>
+
+
+
+ <!-- &knowrob;m03 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m03"/>
+
+
+
+ <!-- &knowrob;m10 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m10"/>
+
+
+
+ <!-- &knowrob;m11 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m11"/>
+
+
+
+ <!-- &knowrob;m12 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m12"/>
+
+
+
+ <!-- &knowrob;m13 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m13"/>
+
+
+
+ <!-- &knowrob;m20 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m20"/>
+
+
+
+ <!-- &knowrob;m21 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m21"/>
+
+
+
+ <!-- &knowrob;m22 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m22"/>
+
+
+
+ <!-- &knowrob;m23 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m23"/>
+
+
+
+ <!-- &knowrob;m30 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m30"/>
+
+
+
+ <!-- &knowrob;m31 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m31"/>
+
+
+
+ <!-- &knowrob;m32 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m32"/>
+
+
+
+ <!-- &knowrob;m33 -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;m33"/>
+
+
+
+ <!-- &knowrob;widthOfObject -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;widthOfObject"/>
+
+
+
+ <!-- &knowrob;maxJointValue -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;maxJointValue"/>
+
+
+
+ <!-- &knowrob;minJointValue -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;minJointValue"/>
+
+
+
+ <!-- &knowrob;turnRadius -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;turnRadius"/>
+
+
+
+ <!-- &knowrob;vectorX -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;vectorX"/>
+
+
+
+ <!-- &knowrob;vectorY -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;vectorY"/>
+
+
+
+ <!-- &knowrob;vectorZ -->
+
+ <owl:DatatypeProperty rdf:about="&knowrob;vectorZ"/>
+
+
+ <!--
+ ///////////////////////////////////////////////////////////////////////////////////////
+ //
+ // Classes
+ //
+ ///////////////////////////////////////////////////////////////////////////////////////
+ -->
+
+ <!-- &knowrob;Cupboard -->
+
+ <owl:Class rdf:about="&knowrob;Cupboard"/>
+
+
+ <!-- &knowrob;Drawer -->
+
+ <owl:Class rdf:about="&knowrob;Drawer"/>
+
+
+ <!-- &knowrob;Handle -->
+
+ <owl:Class rdf:about="&knowrob;Handle"/>
+
+
+ <!-- &knowrob;Wall -->
+
+ <owl:Class rdf:about="&knowrob;Wall"/>
+
+
+ <!-- &knowrob;Door -->
+
+ <owl:Class rdf:about="&knowrob;Door"/>
+
+
+ <!-- &knowrob;RotationMatrix3D -->
+
+ <owl:Class rdf:about="&knowrob;RotationMatrix3D"/>
+
+
+ <!-- &knowrob;SemanticEnvironmentMap -->
+
+ <owl:Class rdf:about="&knowrob;SemanticEnvironmentMap"/>
+
+
+ <!-- &knowrob;SemanticMapPerception -->
+
+ <owl:Class rdf:about="&knowrob;SemanticMapPerception"/>
+
+
+ <!-- &knowrob;TimePoint -->
+
+ <owl:Class rdf:about="&knowrob;TimePoint"/>
+
+
+ <!-- &knowrob;PrismaticJoint -->
+
+ <owl:Class rdf:about="&knowrob;PrismaticJoint"/>
+
+
+ <!-- &knowrob;HingedJoint -->
+
+ <owl:Class rdf:about="&knowrob;HingedJoint"/>
+
+
+ <!-- &knowrob;Vector -->
+
+ <owl:Class rdf:about="&knowrob;Vector"/>
+
+
+ <!--
+ ///////////////////////////////////////////////////////////////////////////////////////
+ //
+ // Individuals
+ //
+ ///////////////////////////////////////////////////////////////////////////////////////
+ -->
+
+
+
+
+ <!-- http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j -->
+
+ <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j">
+ <rdf:type rdf:resource="&knowrob;SemanticEnvironmentMap"/>
+ </owl:NamedIndividual>
+
+
+ <!-- http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619 -->
+
+ <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619">
+ <rdf:type rdf:resource="&knowrob;TimePoint"/>
+ </owl:NamedIndividual>
+
+
+
+ <owl:NamedIndividual rdf:about="&knowrob;VectorX">
+ <rdf:type rdf:resource="&knowrob;Vector"/>
+ <knowrob:vectorX rdf:datatype="&xsd;double">1.0</knowrob:vectorX>
+ <knowrob:vectorY rdf:datatype="&xsd;double">0.0</knowrob:vectorY>
+ <knowrob:vectorZ rdf:datatype="&xsd;double">0.0</knowrob:vectorZ>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;VectorXneg">
+ <rdf:type rdf:resource="&knowrob;Vector"/>
+ <knowrob:vectorX rdf:datatype="&xsd;double">-1.0</knowrob:vectorX>
+ <knowrob:vectorY rdf:datatype="&xsd;double">0.0</knowrob:vectorY>
+ <knowrob:vectorZ rdf:datatype="&xsd;double">0.0</knowrob:vectorZ>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;VectorTable"> <!-- -61.11 Deg-->
+ <rdf:type rdf:resource="&knowrob;Vector"/>
+ <knowrob:vectorX rdf:datatype="&xsd;double">0.48313</knowrob:vectorX>
+ <knowrob:vectorY rdf:datatype="&xsd;double">-0.875549</knowrob:vectorY>
+ <knowrob:vectorZ rdf:datatype="&xsd;double">0.0</knowrob:vectorZ>
+ </owl:NamedIndividual>
+
+
+
+ <!-- DRAWER_SINKBLOCK_UPPER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_upper">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.14</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.8</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_sinkblock_upper_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_upper_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_upper_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_sinkblock_upper">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_sinkblock_upper"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_upper"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_sinkblock_upper">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.75</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.9</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_SINKBLOCK_UPPER_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_upper_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_sinkblock_upper_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_sinkblock_upper"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorXneg"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_sinkblock_upper_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_sinkblock_upper"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_upper_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_SINKBLOCK_UPPER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_upper_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.7</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_sinkblock_upper_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_sinkblock_upper_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_upper_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_sinkblock_upper_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.78</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.9</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.12</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+
+
+ <!-- DRAWER_SINKBLOCK_MIDDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_middle">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.29</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.8</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_sinkblock_middle_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_middle_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_middle_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_sinkblock_middle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_sinkblock_middle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_middle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_sinkblock_middle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.53</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.9</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_SINKBLOCK_MIDDLE_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_middle_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_sinkblock_middle_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_sinkblock_middle"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorXneg"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_sinkblock_middle_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_sinkblock_middle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_middle_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_SINKBLOCK_MIDDLE_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_middle_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.7</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_sinkblock_middle_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_sinkblock_middle_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_middle_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_sinkblock_middle_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.64</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.9</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.12</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- DRAWER_SINKBLOCK_LOWER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_lower">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.29</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.8</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_sinkblock_lower_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_lower_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_lower_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_sinkblock_lower">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_sinkblock_lower"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_lower"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_sinkblock_lower">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.24</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.9</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_SINKBLOCK_LOWER_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_lower_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_sinkblock_lower_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_sinkblock_lower"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorXneg"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_sinkblock_lower_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_sinkblock_lower"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_lower_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_SINKBLOCK_LOWER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_lower_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.7</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_sinkblock_lower_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_sinkblock_lower_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_lower_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_sinkblock_lower_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.35</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.9</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.12</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- DRAWER_SINKBLOCK_DISHWASHER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_dishwasher">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.72</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.59</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:hingedTo rdf:resource="&knowrob;drawer_sinkblock_dishwasher_door"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_dishwasher_door"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_dishwasher_hinge"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_sinkblock_dishwasher">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_sinkblock_dishwasher"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_dishwasher"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_sinkblock_dishwasher">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.46</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.2</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_SINKBLOCK_DISHWASHER_HINGE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_dishwasher_hinge">
+ <rdf:type rdf:resource="&knowrob;HingedJoint"/>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:turnRadius rdf:datatype="&xsd;double">0.60</knowrob:turnRadius>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">1.57</knowrob:maxJointValue>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_sinkblock_dishwasher_door"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_sinkblock_dishwasher"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_sinkblock_dishwasher_hinge">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_dishwasher_hinge"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_sinkblock_dishwasher_hinge"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_sinkblock_dishwasher_hinge">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">1.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">-1.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.46</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.2</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">0.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">0.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_SINKBLOCK_DISHWASHER_DOOR -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_dishwasher_door">
+ <rdf:type rdf:resource="&knowrob;Door"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.72</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.05</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.59</knowrob:widthOfObject>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_dishwasher_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_sinkblock_dishwasher_door">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_dishwasher_door"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_sinkblock_dishwasher_door"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_sinkblock_dishwasher_door">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.46</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.2</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.125</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_SINKBLOCK_DISHWASHER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_dishwasher_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.5</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_sinkblock_dishwasher_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_sinkblock_dishwasher_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_dishwasher_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_sinkblock_dishwasher_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.78</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.2</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.12</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- DRAWER_SINKBLOCK_TRASH -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_trash">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.57</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.59</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_sinkblock_trash_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_trash_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_trash_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_sinkblock_trash">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_sinkblock_trash"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_trash"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_sinkblock_trash">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.38</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">-0.4</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_SINKBLOCK_TRASH_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_trash_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_sinkblock_trash_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_sinkblock_trash"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorXneg"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_sinkblock_trash_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_sinkblock_trash"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_trash_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_SINKBLOCK_TRASH_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_sinkblock_trash_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.5</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_sinkblock_trash_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_sinkblock_trash_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_sinkblock_trash_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_sinkblock_trash_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.63</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">-0.4</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.12</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- DRAWER_FRIDGE_UPPER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_fridge_upper">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.97</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.59</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:hingedTo rdf:resource="&knowrob;drawer_fridge_upper_door"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_fridge_upper_door"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_fridge_upper_hinge"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_fridge_upper">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_fridge_upper"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_fridge_upper"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_fridge_upper">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.99</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">-1.05</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_FRIDGE_UPPER_HINGE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_fridge_upper_hinge">
+ <rdf:type rdf:resource="&knowrob;HingedJoint"/>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:turnRadius rdf:datatype="&xsd;double">0.60</knowrob:turnRadius>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">2.0</knowrob:maxJointValue>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_fridge_upper_door"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_fridge_upper"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_fridge_upper_hinge">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_fridge_upper_hinge"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_fridge_upper_hinge"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_fridge_upper_hinge">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">-1.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">1.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.99</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">-1.05</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">0.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">0.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_FRIDGE_UPPER_DOOR -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_fridge_upper_door">
+ <rdf:type rdf:resource="&knowrob;Door"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.72</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.05</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.59</knowrob:widthOfObject>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_fridge_upper_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_fridge_upper_door">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_fridge_upper_door"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_fridge_upper_door"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_fridge_upper_door">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.46</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.2</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.125</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_FRIDGE_UPPER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_fridge_upper_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.85</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_fridge_upper_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_fridge_upper_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_fridge_upper_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_fridge_upper_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">-1.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">1.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.95</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">-0.71</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">0.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">0.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.12</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- DRAWER_FRIDGE_LOWER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_fridge_lower">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.36</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.59</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_fridge_lower_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_fridge_lower_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_fridge_lower_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_fridge_lower">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_fridge_lower"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_fridge_lower"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_fridge_lower">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.32</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">-1.05</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_FRIDGE_LOWER_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_fridge_lower_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_fridge_lower_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_fridge_lower"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorXneg"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_fridge_lower_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_fridge_lower"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_fridge_lower_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_FRIDGE_LOWER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_fridge_lower_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.5</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_fridge_lower_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_fridge_lower_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_fridge_lower_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_fridge_lower_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.45</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">-1.05</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.12</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- DRAWER_OVEN_RIGHT -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_right">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">1.32</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.29</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_oven_right_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_right_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_right_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_oven_right">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_oven_right"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_right"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_oven_right">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.81</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.46</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_OVEN_RIGHT_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_right_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_oven_right_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_oven_right"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorXneg"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_oven_right_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_oven_right"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_right_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_OVEN_RIGHT_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_right_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">1.24</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_oven_right_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_oven_right_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_right_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_oven_right_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">-1.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">1.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.81</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.46</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">0.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">0.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.12</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- DRAWER_OVEN_UPPER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_upper">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.48</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.59</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:hingedTo rdf:resource="&knowrob;drawer_oven_upper_door"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_upper_door"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_upper_hinge"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_oven_upper">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_oven_upper"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_upper"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_oven_upper">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">1.12</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.88</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_OVEN_UPPER_HINGE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_upper_hinge">
+ <rdf:type rdf:resource="&knowrob;HingedJoint"/>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:turnRadius rdf:datatype="&xsd;double">0.60</knowrob:turnRadius>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">1.57</knowrob:maxJointValue>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_oven_upper_door"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_oven_upper"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_oven_upper_hinge">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_upper_hinge"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_oven_upper_hinge"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_oven_upper_hinge">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">1.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">-1.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">1.12</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.88</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">0.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">0.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_OVEN_UPPER_DOOR -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_upper_door">
+ <rdf:type rdf:resource="&knowrob;Door"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.72</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.05</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.59</knowrob:widthOfObject>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_upper_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_oven_upper_door">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_upper_door"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_oven_upper_door"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_oven_upper_door">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.46</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.2</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.125</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_OVEN_UPPER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_upper_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.03</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.04</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.28</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_oven_upper_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_oven_upper_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_upper_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_oven_upper_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">1.11</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.88</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.14</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+
+ <!-- DRAWER_OVEN_MIDDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_middle">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.14</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.59</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_oven_middle_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_middle_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_middle_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_oven_middle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_oven_middle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_middle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_oven_middle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.79</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.88</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_OVEN_MIDDLE_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_middle_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_oven_middle_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_oven_middle"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorXneg"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_oven_middle_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_oven_middle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_middle_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_OVEN_MIDDLE_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_middle_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.5</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_oven_middle_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_oven_middle_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_middle_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_oven_middle_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.82</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.88</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.12</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- DRAWER_OVEN_LOWER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_lower">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.58</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.59</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_oven_lower_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_lower_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_lower_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_oven_lower">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_oven_lower"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_lower"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_oven_lower">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.44</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.88</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_OVEN_LOWER_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_lower_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_oven_lower_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_oven_lower"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorXneg"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_oven_lower_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_oven_lower"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_lower_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_OVEN_LOWER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_lower_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.5</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_oven_lower_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_oven_lower_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_lower_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_oven_lower_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.67</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.88</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.12</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- DRAWER_OVEN_LEFT -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_left">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">1.32</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.29</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_oven_left_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_left_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_left_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_oven_left">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_oven_left"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_left"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_oven_left">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.81</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">2.36</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_OVEN_LEFT_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_left_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_oven_left_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_oven_left"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorXneg"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_oven_left_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_oven_left"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_left_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_OVEN_LEFT_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_oven_left_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">1.24</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_oven_left_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_oven_left_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_oven_left_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_oven_left_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">-1.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">1.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.81</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">2.36</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">0.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">0.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.12</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- DRAWER_ISLAND_LEFT_UPPER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_left_upper">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.29</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.6</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_island_left_upper_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_left_upper_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_left_upper_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_island_left_upper">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_island_left_upper"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_left_upper"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_island_left_upper">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.54</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.91</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">-1.1</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_ISLAND_LEFT_UPPER_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_left_upper_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_island_left_upper_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_island_left_upper"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorX"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_island_left_upper_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_island_left_upper"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_left_upper_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_ISLAND_LEFT_UPPER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_left_upper_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.5</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_island_left_upper_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_island_left_upper_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_left_upper_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_island_left_upper_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.63</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.91</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">-0.82</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+
+
+ <!-- DRAWER_ISLAND_LEFT_LOWER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_left_lower">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.29</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.6</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_island_left_lower_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_left_lower_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_left_lower_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_island_left_lower">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_island_left_lower"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_left_lower"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_island_left_lower">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.25</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.91</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">-1.1</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_ISLAND_LEFT_LOWER_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_left_lower_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_island_left_lower_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_island_left_lower"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorX"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_island_left_lower_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_island_left_lower"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_left_lower_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_ISLAND_LEFT_LOWER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_left_lower_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.5</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_island_left_lower_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_island_left_lower_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_left_lower_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_island_left_lower_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.34</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.91</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">-0.82</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+
+ <!-- DRAWER_ISLAND_MIDDLE_UPPER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_middle_upper">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.29</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.99</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_island_middle_upper_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_middle_upper_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_middle_upper_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_island_middle_upper">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_island_middle_upper"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_middle_upper"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_island_middle_upper">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.54</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.71</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">-1.1</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_ISLAND_MIDDLE_UPPER_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_middle_upper_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_island_middle_upper_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_island_middle_upper"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorX"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_island_middle_upper_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_island_middle_upper"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_middle_upper_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_ISLAND_MIDDLE_UPPER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_middle_upper_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.90</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_island_middle_upper_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_island_middle_upper_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_middle_upper_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_island_middle_upper_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.63</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.71</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">-0.82</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+
+
+ <!-- DRAWER_ISLAND_MIDDLE_LOWER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_middle_lower">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.29</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.99</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_island_middle_lower_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_middle_lower_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_middle_lower_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_island_middle_lower">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_island_middle_lower"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_middle_lower"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_island_middle_lower">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.25</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.71</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">-1.1</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_ISLAND_MIDDLE_LOWER_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_middle_lower_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_island_middle_lower_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_island_middle_lower"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorX"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_island_middle_lower_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_island_middle_lower"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_middle_lower_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_ISLAND_MIDDLE_LOWER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_middle_lower_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.90</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_island_middle_lower_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_island_middle_lower_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_middle_lower_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_island_middle_lower_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.34</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.71</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">-0.82</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+
+ <!-- DRAWER_ISLAND_RIGHT_UPPER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_right_upper">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.29</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.60</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_island_right_upper_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_right_upper_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_right_upper_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_island_right_upper">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_island_right_upper"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_right_upper"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_island_right_upper">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.54</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">2.51</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">-1.1</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_ISLAND_RIGHT_UPPER_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_right_upper_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_island_right_upper_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_island_right_upper"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorX"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_island_right_upper_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_island_right_upper"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_right_upper_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_ISLAND_RIGHT_UPPER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_right_upper_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.50</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_island_right_upper_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_island_right_upper_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_right_upper_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_island_right_upper_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.63</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">2.51</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">-0.82</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+
+
+ <!-- DRAWER_ISLAND_RIGHT_LOWER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_right_lower">
+ <rdf:type rdf:resource="&knowrob;Drawer"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.29</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.5</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.60</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:prismaticallyConnectedTo rdf:resource="&knowrob;drawer_island_right_lower_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_right_lower_handle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_right_lower_slider"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_island_right_lower">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_island_right_lower"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_right_lower"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_drawer_island_right_lower">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.25</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">2.51</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">-1.1</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_ISLAND_RIGHT_LOWER_SLIDER -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_right_lower_slider">
+ <rdf:type rdf:resource="&knowrob;PrismaticJoint"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.0</knowrob:depthOfObject>
+ <knowrob:maxJointValue rdf:datatype="&xsd;double">0.48</knowrob:maxJointValue>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.0</knowrob:widthOfObject>
+ <knowrob:minJointValue rdf:datatype="&xsd;double">0.0</knowrob:minJointValue>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_island_right_lower_handle"/>
+ <knowrob:connectedTo-Rigidly rdf:resource="&knowrob;drawer_island_right_lower"/>
+ <knowrob:direction rdf:resource="&knowrob;VectorX"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_drawer_island_right_lower_slider">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_drawer_island_right_lower"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_right_lower_slider"/>
+ </owl:NamedIndividual>
+
+
+ <!-- DRAWER_ISLAND_RIGHT_LOWER_HANDLE -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;drawer_island_right_lower_handle">
+ <rdf:type rdf:resource="&knowrob;Handle"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.01</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.07</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.50</knowrob:widthOfObject>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_island_right_lower_handle">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_island_right_lower_handle"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;drawer_island_right_lower_handle"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_island_right_lower_handle">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.34</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">2.51</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">-0.82</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+
+<!-- -->
+<!-- WALLS -->
+<!-- -->
+
+
+
+ <owl:NamedIndividual rdf:about="&knowrob;kitchen_wall_north">
+ <rdf:type rdf:resource="&knowrob;Cupboard"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">2.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.01</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">4.96</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_kitchen_wall_north">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_kitchen_wall_north"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;kitchen_wall_north"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_kitchen_wall_north">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">1.0</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.65</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.82</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+
+
+
+ <owl:NamedIndividual rdf:about="&knowrob;kitchen_wall_west">
+ <rdf:type rdf:resource="&knowrob;Cupboard"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">2.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.01</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">6.66</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_kitchen_wall_west">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_kitchen_wall_west"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;kitchen_wall_west"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_kitchen_wall_west">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">-1.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">1.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">1.0</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">3.17</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">0.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">0.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">-1.50</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+
+
+
+ <owl:NamedIndividual rdf:about="&knowrob;kitchen_wall_south">
+ <rdf:type rdf:resource="&knowrob;Cupboard"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.74</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.01</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">4.05</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_kitchen_wall_south">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_kitchen_wall_south"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;kitchen_wall_south"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_kitchen_wall_south">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.37</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.13</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">-4.82</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+
+
+
+ <owl:NamedIndividual rdf:about="&knowrob;kitchen_wall_east_1">
+ <rdf:type rdf:resource="&knowrob;Cupboard"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">2.0</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.01</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">1.0</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_kitchen_wall_east_1">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_kitchen_wall_east_1"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;kitchen_wall_east_1"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_kitchen_wall_east_1">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">-1.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">1.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">1.0</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">-1.82</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">0.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">0.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.30</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+
+
+ <owl:NamedIndividual rdf:about="&knowrob;kitchen_wall_east_2">
+ <rdf:type rdf:resource="&knowrob;Cupboard"/>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.74</knowrob:heightOfObject>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.01</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">4.81</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception_kitchen_wall_east_2">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_kitchen_wall_east_2"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;kitchen_wall_east_2"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_kitchen_wall_east_2">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">-1.0</knowrob:m01>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">1.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.37</knowrob:m23>
+ <knowrob:m13 rdf:datatype="&xsd;double">-1.85</knowrob:m13>
+ <knowrob:m11 rdf:datatype="&xsd;double">0.0</knowrob:m11>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">0.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m03 rdf:datatype="&xsd;double">-2.4</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+ <!-- &knowrob;kitchen_fridge_block -->
+
+<!-- <owl:NamedIndividual rdf:about="&knowrob;kitchen_fridge_block">
+ <rdf:type rdf:resource="&knowrob;Cupboard"/>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.58</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">0.6</knowrob:widthOfObject>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">1.51</knowrob:heightOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;kitchen_sink_block"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_fridge_upper"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_fridge_lower"/>
+ </owl:NamedIndividual>-->
+
+
+
+ <!-- &knowrob;kitchen_island -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;kitchen_island">
+ <rdf:type rdf:resource="&knowrob;Cupboard"/>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.8</knowrob:depthOfObject>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.85</knowrob:heightOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">2.45</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_left_upper"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_left_lower"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_middle_upper"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_middle_lower"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_right_upper"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_island_right_lower"/>
+ </owl:NamedIndividual>
+
+
+ <!-- &knowrob;pancake_table -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;pancake_table">
+ <rdf:type rdf:resource="&knowrob;Cupboard"/>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.8</knowrob:depthOfObject>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.72</knowrob:heightOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">1.6</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D_pancake_table">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m00 rdf:datatype="&xsd;double">-1.0</knowrob:m00>
+ <knowrob:m11 rdf:datatype="&xsd;double">-1.0</knowrob:m11>
+ <knowrob:m03 rdf:datatype="&xsd;double">-1.05289</knowrob:m03>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.36</knowrob:m23>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m13 rdf:datatype="&xsd;double">-0.45</knowrob:m13>
+ </owl:NamedIndividual>
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception10asd">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D_pancake_table"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;pancake_table"/>
+ </owl:NamedIndividual>
+
+
+ <!-- &knowrob;kitchen_island_counter_top -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;kitchen_island_counter_top">
+ <rdf:type rdf:resource="&knowrob;CounterTop"/>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.8</knowrob:depthOfObject>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.05</knowrob:heightOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">2.45</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ </owl:NamedIndividual>
+
+
+ <!-- &knowrob;kitchen_oven_block -->
+
+<!-- <owl:NamedIndividual rdf:about="&knowrob;kitchen_oven_block">
+ <rdf:type rdf:resource="&knowrob;Cupboard"/>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.58</knowrob:depthOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">1.2</knowrob:widthOfObject>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">1.51</knowrob:heightOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_right"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_upper"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_middle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_lower"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_oven_left"/>
+ </owl:NamedIndividual>-->
+
+
+
+ <!-- &knowrob;kitchen_sink_block -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;kitchen_sink_block">
+ <rdf:type rdf:resource="&knowrob;Cupboard"/>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.58</knowrob:depthOfObject>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.85</knowrob:heightOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">2.06</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_upper"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_middle"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_lower"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_dishwasher"/>
+ <knowrob:properPhysicalParts rdf:resource="&knowrob;drawer_sinkblock_trash"/>
+ </owl:NamedIndividual>
+
+
+
+ <!-- &knowrob;kitchen_sink_block_counter_top -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;kitchen_sink_block_counter_top">
+ <rdf:type rdf:resource="&knowrob;CounterTop"/>
+ <knowrob:depthOfObject rdf:datatype="&xsd;double">0.58</knowrob:depthOfObject>
+ <knowrob:heightOfObject rdf:datatype="&xsd;double">0.05</knowrob:heightOfObject>
+ <knowrob:widthOfObject rdf:datatype="&xsd;double">2.06</knowrob:widthOfObject>
+ <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
+ </owl:NamedIndividual>
+
+
+
+ <!-- &knowrob;RotationMatrix3D1 -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D1kitchen_oven_block">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.755</knowrob:m23>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.51594</knowrob:m03>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.9012</knowrob:m13>
+ </owl:NamedIndividual>
+
+
+
+ <!-- &knowrob;RotationMatrix3D11 -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D11kitchen_sink_block">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.30313</knowrob:m13>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.425</knowrob:m23>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.51594</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- &knowrob;RotationMatrix3D11kitchen_sink_block_counter_top -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D11kitchen_sink_block_counter_top">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m13 rdf:datatype="&xsd;double">0.30313</knowrob:m13>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.85</knowrob:m23>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.51594</knowrob:m03>
+ </owl:NamedIndividual>
+
+
+
+ <!-- &knowrob;RotationMatrix3D3 -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D3kitchen_fridge_block">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m13 rdf:datatype="&xsd;double">-1.056866</knowrob:m13>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.755</knowrob:m23>
+ <knowrob:m11 rdf:datatype="&xsd;double">1.0</knowrob:m11>
+ <knowrob:m00 rdf:datatype="&xsd;double">1.0</knowrob:m00>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m03 rdf:datatype="&xsd;double">1.53787</knowrob:m03>
+ </owl:NamedIndividual>
+
+ <!-- &knowrob;RotationMatrix3D9 -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D9kitchen_island">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m00 rdf:datatype="&xsd;double">-1.0</knowrob:m00>
+ <knowrob:m11 rdf:datatype="&xsd;double">-1.0</knowrob:m11>
+ <knowrob:m03 rdf:datatype="&xsd;double">-1.05289</knowrob:m03>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.425</knowrob:m23>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.656244</knowrob:m13>
+ </owl:NamedIndividual>
+
+
+ <!-- &knowrob;RotationMatrix3D9kitchen_island_counter_top -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;RotationMatrix3D9kitchen_island_counter_top">
+ <rdf:type rdf:resource="&knowrob;RotationMatrix3D"/>
+ <knowrob:m00 rdf:datatype="&xsd;double">-1.0</knowrob:m00>
+ <knowrob:m11 rdf:datatype="&xsd;double">-1.0</knowrob:m11>
+ <knowrob:m03 rdf:datatype="&xsd;double">-1.05289</knowrob:m03>
+ <knowrob:m01 rdf:datatype="&xsd;double">0.0</knowrob:m01>
+ <knowrob:m32 rdf:datatype="&xsd;double">0.0</knowrob:m32>
+ <knowrob:m10 rdf:datatype="&xsd;double">0.0</knowrob:m10>
+ <knowrob:m21 rdf:datatype="&xsd;double">0.0</knowrob:m21>
+ <knowrob:m30 rdf:datatype="&xsd;double">0.0</knowrob:m30>
+ <knowrob:m12 rdf:datatype="&xsd;double">0.0</knowrob:m12>
+ <knowrob:m20 rdf:datatype="&xsd;double">0.0</knowrob:m20>
+ <knowrob:m02 rdf:datatype="&xsd;double">0.0</knowrob:m02>
+ <knowrob:m31 rdf:datatype="&xsd;double">0.0</knowrob:m31>
+ <knowrob:m23 rdf:datatype="&xsd;double">0.85</knowrob:m23>
+ <knowrob:m33 rdf:datatype="&xsd;double">1.0</knowrob:m33>
+ <knowrob:m22 rdf:datatype="&xsd;double">1.0</knowrob:m22>
+ <knowrob:m13 rdf:datatype="&xsd;double">1.656244</knowrob:m13>
+ </owl:NamedIndividual>
+
+
+
+ <!-- &knowrob;SemanticMapPerception10 -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception10">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D9kitchen_island"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;kitchen_island"/>
+ </owl:NamedIndividual>
+
+
+ <!-- &knowrob;SemanticMapPerception10kitchen_island_counter_top -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception10kitchen_island_counter_top">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D9kitchen_island_counter_top"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;kitchen_island_counter_top"/>
+ </owl:NamedIndividual>
+
+
+
+ <!-- &knowrob;SemanticMapPerception12 -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception12">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D11kitchen_sink_block"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;kitchen_sink_block"/>
+ </owl:NamedIndividual>
+
+
+
+ <!-- &knowrob;SemanticMapPerception12kitchen_sink_block_counter_top -->
+
+ <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception12kitchen_sink_block_counter_top">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D11kitchen_sink_block_counter_top"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;kitchen_sink_block_counter_top"/>
+ </owl:NamedIndividual>
+
+
+
+ <!-- &knowrob;SemanticMapPerception2 -->
+
+<!-- <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception2">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D1kitchen_oven_block"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;kitchen_oven_block"/>
+ </owl:NamedIndividual>-->
+
+
+
+ <!-- &knowrob;SemanticMapPerception4 -->
+
+<!-- <owl:NamedIndividual rdf:about="&knowrob;SemanticMapPerception4">
+ <rdf:type rdf:resource="&knowrob;SemanticMapPerception"/>
+ <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
+ <knowrob:eventOccursAt rdf:resource="&knowrob;RotationMatrix3D3kitchen_fridge_block"/>
+ <knowrob:objectActedOn rdf:resource="&knowrob;kitchen_fridge_block"/>
+ </owl:NamedIndividual> -->
+
+
+
+</rdf:RDF>
+
+
+
+<!-- Generated by the OWL API (version 3.1.0.1592) http://owlapi.sourceforge.net -->
+
diff --git a/iai_semantic_maps/owl/room.owl.in b/iai_semantic_maps/owl/room.owl.in
deleted file mode 100644
index c68d048..0000000
--- a/iai_semantic_maps/owl/room.owl.in
+++ /dev/null
@@ -1,2897 +0,0 @@
-<?xml version="1.0"?>
-<!DOCTYPE rdf:RDF [
- <!ENTITY local_path 'file://@OWL_PATH_PREFIX@/owl/'>
- <!ENTITY owl "http://www.w3.org/2002/07/owl#" >
- <!ENTITY owl2 "http://www.w3.org/2006/12/owl2#" >
- <!ENTITY xsd "http://www.w3.org/2001/XMLSchema#" >
- <!ENTITY owl2xml "http://www.w3.org/2006/12/owl2-xml#" >
- <!ENTITY knowrob "http://ias.cs.tum.edu/kb/knowrob.owl#" >
- <!ENTITY rdfs "http://www.w3.org/2000/01/rdf-schema#" >
- <!ENTITY rdf "http://www.w3.org/1999/02/22-rdf-syntax-ns#" >
- <!ENTITY pr2pnp_map "http://ias.cs.tum.edu/kb/room.owl#" >
- <!ENTITY protege "http://protege.stanford.edu/plugins/owl/protege#" >
-]>
-
-<rdf:RDF xmlns="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#"
- xml:base="http://ias.cs.tum.edu/kb/ias_semantic_map.owl"
- xmlns:rdfs="http://www.w3.org/2000/01/rdf-schema#"
- xmlns:map="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#"
- xmlns:owl="http://www.w3.org/2002/07/owl#"
- xmlns:xsd="http://www.w3.org/2001/XMLSchema#"
- xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
- xmlns:knowrob="http://ias.cs.tum.edu/kb/knowrob.owl#">
- <owl:Ontology rdf:about="http://ias.cs.tum.edu/kb/room.owl#">
- <owl:imports rdf:resource="&local_path;knowrob.owl"/>
- </owl:Ontology>
-
-
-
- <!--
- ///////////////////////////////////////////////////////////////////////////////////////
- //
- // Object Properties
- //
- ///////////////////////////////////////////////////////////////////////////////////////
- -->
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#describedInMap -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#describedInMap"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#eventOccursAt -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#eventOccursAt"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#objectActedOn -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#objectActedOn"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#properPhysicalParts -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#properPhysicalParts"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#startTime -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#startTime"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#prismaticallyConnectedTo -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#prismaticallyConnectedTo"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#hingedTo -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#hingedTo"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#connectedTo-Rigidly -->
-
- <owl:ObjectProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#connectedTo-Rigidly"/>
-
-
- <!--
- ///////////////////////////////////////////////////////////////////////////////////////
- //
- // Data properties
- //
- ///////////////////////////////////////////////////////////////////////////////////////
- -->
-
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#depthOfObject -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#depthOfObject"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#heightOfObject -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#heightOfObject"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m00 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m00"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m01 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m01"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m02 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m02"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m03 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m03"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m10 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m10"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m11 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m11"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m12 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m12"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m13 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m13"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m20 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m20"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m21 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m21"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m22 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m22"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m23 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m23"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m30 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m30"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m31 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m31"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m32 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m32"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#m33 -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#m33"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#widthOfObject -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#widthOfObject"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#maxJointValue -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#maxJointValue"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#minJointValue -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#minJointValue"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#turnRadius -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#turnRadius"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#vectorX -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#vectorX"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#vectorY -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#vectorY"/>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#vectorZ -->
-
- <owl:DatatypeProperty rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#vectorZ"/>
-
-
- <!--
- ///////////////////////////////////////////////////////////////////////////////////////
- //
- // Classes
- //
- ///////////////////////////////////////////////////////////////////////////////////////
- -->
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#Cupboard -->
-
- <owl:Class rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#Cupboard"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#Drawer -->
-
- <owl:Class rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#Handle -->
-
- <owl:Class rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#Wall -->
-
- <owl:Class rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#Wall"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#Door -->
-
- <owl:Class rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#Door"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D -->
-
- <owl:Class rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#SemanticEnvironmentMap -->
-
- <owl:Class rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticEnvironmentMap"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception -->
-
- <owl:Class rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#TimePoint -->
-
- <owl:Class rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#TimePoint"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint -->
-
- <owl:Class rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#HingedJoint -->
-
- <owl:Class rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#HingedJoint"/>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#Vector -->
-
- <owl:Class rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#Vector"/>
-
-
- <!--
- ///////////////////////////////////////////////////////////////////////////////////////
- //
- // Individuals
- //
- ///////////////////////////////////////////////////////////////////////////////////////
- -->
-
-
-
-
- <!-- http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticEnvironmentMap"/>
- </owl:NamedIndividual>
-
-
- <!-- http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619 -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#TimePoint"/>
- </owl:NamedIndividual>
-
-
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#VectorX">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Vector"/>
- <knowrob:vectorX rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:vectorX>
- <knowrob:vectorY rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:vectorY>
- <knowrob:vectorZ rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:vectorZ>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#VectorXneg">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Vector"/>
- <knowrob:vectorX rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.0</knowrob:vectorX>
- <knowrob:vectorY rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:vectorY>
- <knowrob:vectorZ rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:vectorZ>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#VectorTable"> <!-- -61.11 Deg-->
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Vector"/>
- <knowrob:vectorX rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48313</knowrob:vectorX>
- <knowrob:vectorY rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-0.875549</knowrob:vectorY>
- <knowrob:vectorZ rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:vectorZ>
- </owl:NamedIndividual>
-
-
-
- <!-- DRAWER_SINKBLOCK_UPPER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.14</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.8</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_upper_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_upper_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_upper_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_sinkblock_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_upper"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_upper"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.75</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.9</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_SINKBLOCK_UPPER_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_upper_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_upper_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_upper"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorXneg"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_sinkblock_upper_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_upper"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_upper_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_SINKBLOCK_UPPER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.7</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_sinkblock_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_sinkblock_upper_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_upper_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_sinkblock_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.78</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.9</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
-
-
- <!-- DRAWER_SINKBLOCK_MIDDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_middle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.29</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.8</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_middle_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_middle_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_middle_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_sinkblock_middle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_middle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_middle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_middle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.53</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.9</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_SINKBLOCK_MIDDLE_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_middle_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_middle_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_middle"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorXneg"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_sinkblock_middle_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_middle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_middle_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_SINKBLOCK_MIDDLE_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_middle_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.7</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_sinkblock_middle_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_sinkblock_middle_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_middle_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_sinkblock_middle_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.64</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.9</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- DRAWER_SINKBLOCK_LOWER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.29</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.8</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_lower_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_lower_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_lower_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_sinkblock_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_lower"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_lower"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.24</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.9</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_SINKBLOCK_LOWER_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_lower_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_lower_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_lower"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorXneg"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_sinkblock_lower_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_lower"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_lower_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_SINKBLOCK_LOWER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.7</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_sinkblock_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_sinkblock_lower_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_lower_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_sinkblock_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.35</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.9</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- DRAWER_SINKBLOCK_DISHWASHER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.72</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.59</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:hingedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher_door"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher_door"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher_hinge"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_sinkblock_dishwasher">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_dishwasher"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_dishwasher">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.46</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.2</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_SINKBLOCK_DISHWASHER_HINGE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher_hinge">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#HingedJoint"/>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:turnRadius rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.60</knowrob:turnRadius>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.57</knowrob:maxJointValue>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher_door"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_sinkblock_dishwasher_hinge">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher_hinge"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_dishwasher_hinge"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_dishwasher_hinge">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.46</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.2</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_SINKBLOCK_DISHWASHER_DOOR -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher_door">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Door"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.72</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.05</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.59</knowrob:widthOfObject>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_sinkblock_dishwasher_door">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher_door"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_dishwasher_door"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_dishwasher_door">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.46</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.2</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.125</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_SINKBLOCK_DISHWASHER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_sinkblock_dishwasher_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_sinkblock_dishwasher_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_sinkblock_dishwasher_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.78</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.2</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- DRAWER_SINKBLOCK_TRASH -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_trash">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.57</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.59</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_trash_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_trash_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_trash_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_sinkblock_trash">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_trash"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_trash"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_trash">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
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- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.38</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-0.4</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_SINKBLOCK_TRASH_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_trash_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
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- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_trash_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_trash"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorXneg"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_sinkblock_trash_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_trash"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_trash_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_SINKBLOCK_TRASH_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_trash_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_sinkblock_trash_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_sinkblock_trash_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_trash_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_sinkblock_trash_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
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- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.63</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-0.4</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- DRAWER_FRIDGE_UPPER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.97</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.59</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:hingedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper_door"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper_door"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper_hinge"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_fridge_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_fridge_upper"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_fridge_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.99</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.05</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_FRIDGE_UPPER_HINGE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper_hinge">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#HingedJoint"/>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:turnRadius rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.60</knowrob:turnRadius>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">2.0</knowrob:maxJointValue>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper_door"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_fridge_upper_hinge">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper_hinge"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_fridge_upper_hinge"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_fridge_upper_hinge">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.99</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.05</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_FRIDGE_UPPER_DOOR -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper_door">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Door"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.72</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.05</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.59</knowrob:widthOfObject>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_fridge_upper_door">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper_door"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_fridge_upper_door"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_fridge_upper_door">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.46</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.2</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.125</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_FRIDGE_UPPER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.85</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_fridge_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_fridge_upper_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_upper_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_fridge_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.95</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-0.71</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- DRAWER_FRIDGE_LOWER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.36</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.59</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_lower_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_lower_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_lower_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_fridge_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_fridge_lower"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_lower"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_fridge_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.32</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.05</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_FRIDGE_LOWER_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_lower_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_lower_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_lower"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorXneg"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_fridge_lower_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_fridge_lower"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_lower_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_FRIDGE_LOWER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_fridge_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_fridge_lower_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_fridge_lower_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_fridge_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.45</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.05</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- DRAWER_OVEN_RIGHT -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_right">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.32</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.29</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_right_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_right_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_right_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_oven_right">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_right"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_right"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_right">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.81</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.46</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_OVEN_RIGHT_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_right_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_right_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_right"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorXneg"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_oven_right_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_right"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_right_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_OVEN_RIGHT_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_right_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.24</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_oven_right_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_oven_right_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_right_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_oven_right_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.81</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.46</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- DRAWER_OVEN_UPPER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.59</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:hingedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper_door"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper_door"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper_hinge"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_oven_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_upper"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.88</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_OVEN_UPPER_HINGE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper_hinge">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#HingedJoint"/>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:turnRadius rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.60</knowrob:turnRadius>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.57</knowrob:maxJointValue>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper_door"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_oven_upper_hinge">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper_hinge"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_upper_hinge"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_upper_hinge">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.88</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_OVEN_UPPER_DOOR -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper_door">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Door"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.72</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.05</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.59</knowrob:widthOfObject>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_oven_upper_door">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper_door"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_upper_door"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_upper_door">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.46</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.2</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.125</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_OVEN_UPPER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.03</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.04</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.28</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_oven_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_oven_upper_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_oven_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.11</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.88</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.14</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
-
- <!-- DRAWER_OVEN_MIDDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_middle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.14</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.59</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_middle_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_middle_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_middle_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_oven_middle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_middle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_middle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_middle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.79</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.88</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_OVEN_MIDDLE_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_middle_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_middle_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_middle"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorXneg"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_oven_middle_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_middle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_middle_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_OVEN_MIDDLE_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_middle_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_oven_middle_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_oven_middle_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_middle_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_oven_middle_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.82</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.88</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- DRAWER_OVEN_LOWER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.58</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.59</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_lower_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_lower_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_lower_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_oven_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_lower"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_lower"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.44</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.88</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_OVEN_LOWER_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_lower_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_lower_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_lower"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorXneg"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_oven_lower_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_lower"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_lower_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_OVEN_LOWER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_oven_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_oven_lower_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_lower_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_oven_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.67</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.88</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- DRAWER_OVEN_LEFT -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_left">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.32</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.29</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_left_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_left_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_left_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_oven_left">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_left"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_left"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_left">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.81</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">2.36</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.4</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_OVEN_LEFT_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_left_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_left_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_left"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorXneg"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_oven_left_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_oven_left"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_left_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_OVEN_LEFT_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_left_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.24</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_oven_left_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_oven_left_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_left_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_oven_left_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.81</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">2.36</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.12</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- DRAWER_ISLAND_LEFT_UPPER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.29</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.6</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_upper_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_upper_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_upper_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_island_left_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_left_upper"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_upper"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_left_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.54</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.91</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.1</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_ISLAND_LEFT_UPPER_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_upper_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_upper_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_upper"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorX"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_island_left_upper_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_left_upper"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_upper_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_ISLAND_LEFT_UPPER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_island_left_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_island_left_upper_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_upper_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_island_left_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.63</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.91</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-0.82</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
-
-
- <!-- DRAWER_ISLAND_LEFT_LOWER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.29</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.6</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_lower_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_lower_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_lower_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_island_left_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_left_lower"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_lower"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_left_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.25</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.91</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.1</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_ISLAND_LEFT_LOWER_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_lower_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_lower_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_lower"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorX"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_island_left_lower_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_left_lower"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_lower_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_ISLAND_LEFT_LOWER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_island_left_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_island_left_lower_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_left_lower_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_island_left_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.34</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.91</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-0.82</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
-
- <!-- DRAWER_ISLAND_MIDDLE_UPPER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.29</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.99</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_upper_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_upper_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_upper_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_island_middle_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_middle_upper"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_upper"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_middle_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.54</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.71</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.1</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_ISLAND_MIDDLE_UPPER_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_upper_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_upper_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_upper"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorX"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_island_middle_upper_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_middle_upper"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_upper_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_ISLAND_MIDDLE_UPPER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.90</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_island_middle_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_island_middle_upper_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_upper_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_island_middle_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.63</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.71</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-0.82</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
-
-
- <!-- DRAWER_ISLAND_MIDDLE_LOWER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.29</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.99</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_lower_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_lower_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_lower_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_island_middle_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_middle_lower"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_lower"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_middle_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.25</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.71</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.1</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_ISLAND_MIDDLE_LOWER_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_lower_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_lower_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_lower"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorX"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_island_middle_lower_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_middle_lower"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_lower_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_ISLAND_MIDDLE_LOWER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.90</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_island_middle_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_island_middle_lower_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_middle_lower_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_island_middle_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.34</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.71</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-0.82</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
-
- <!-- DRAWER_ISLAND_RIGHT_UPPER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.29</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.60</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_upper_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_upper_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_upper_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_island_right_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_right_upper"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_upper"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_right_upper">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.54</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">2.51</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.1</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_ISLAND_RIGHT_UPPER_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_upper_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_upper_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_upper"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorX"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_island_right_upper_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_right_upper"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_upper_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_ISLAND_RIGHT_UPPER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.50</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_island_right_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_island_right_upper_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_upper_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_island_right_upper_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.63</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">2.51</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-0.82</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
-
-
- <!-- DRAWER_ISLAND_RIGHT_LOWER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Drawer"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.29</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.5</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.60</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:prismaticallyConnectedTo rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_lower_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_lower_handle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_lower_slider"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_island_right_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_right_lower"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_lower"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_right_lower">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.25</knowrob:m23>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">2.51</knowrob:m13>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.1</knowrob:m03>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_ISLAND_RIGHT_LOWER_SLIDER -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_lower_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#PrismaticJoint"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:depthOfObject>
- <knowrob:maxJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.48</knowrob:maxJointValue>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:widthOfObject>
- <knowrob:minJointValue rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:minJointValue>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_lower_handle"/>
- <knowrob:connectedTo-Rigidly rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_lower"/>
- <knowrob:direction rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#VectorX"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_drawer_island_right_lower_slider">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_drawer_island_right_lower"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_lower_slider"/>
- </owl:NamedIndividual>
-
-
- <!-- DRAWER_ISLAND_RIGHT_LOWER_HANDLE -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Handle"/>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.01</knowrob:heightOfObject>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.07</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.50</knowrob:widthOfObject>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception_island_right_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_island_right_lower_handle"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_island_right_lower_handle"/>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_island_right_lower_handle">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
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- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.36</knowrob:m23>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-0.45</knowrob:m13>
- </owl:NamedIndividual>
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception10asd">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D_pancake_table"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#pancake_table"/>
- </owl:NamedIndividual>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_island_counter_top -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_island_counter_top">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#CounterTop"/>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.8</knowrob:depthOfObject>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.05</knowrob:heightOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">2.45</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- </owl:NamedIndividual>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_oven_block -->
-
-<!-- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_oven_block">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Cupboard"/>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.58</knowrob:depthOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.2</knowrob:widthOfObject>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.51</knowrob:heightOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_right"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_upper"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_middle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_lower"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_oven_left"/>
- </owl:NamedIndividual>-->
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_sink_block -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_sink_block">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#Cupboard"/>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.58</knowrob:depthOfObject>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.85</knowrob:heightOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">2.06</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_upper"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_middle"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_lower"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_dishwasher"/>
- <knowrob:properPhysicalParts rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#drawer_sinkblock_trash"/>
- </owl:NamedIndividual>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_sink_block_counter_top -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_sink_block_counter_top">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#CounterTop"/>
- <knowrob:depthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.58</knowrob:depthOfObject>
- <knowrob:heightOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.05</knowrob:heightOfObject>
- <knowrob:widthOfObject rdf:datatype="http://www.w3.org/2001/XMLSchema#double">2.06</knowrob:widthOfObject>
- <knowrob:describedInMap rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap_PM580j"/>
- </owl:NamedIndividual>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D1 -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D1kitchen_oven_block">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.755</knowrob:m23>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.51594</knowrob:m03>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.9012</knowrob:m13>
- </owl:NamedIndividual>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D11 -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D11kitchen_sink_block">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.30313</knowrob:m13>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.425</knowrob:m23>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.51594</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D11kitchen_sink_block_counter_top -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D11kitchen_sink_block_counter_top">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.30313</knowrob:m13>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.85</knowrob:m23>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.51594</knowrob:m03>
- </owl:NamedIndividual>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D3 -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D3kitchen_fridge_block">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.056866</knowrob:m13>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.755</knowrob:m23>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m11>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m00>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.53787</knowrob:m03>
- </owl:NamedIndividual>
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D9 -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D9kitchen_island">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.0</knowrob:m00>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.0</knowrob:m11>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.05289</knowrob:m03>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.425</knowrob:m23>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.656244</knowrob:m13>
- </owl:NamedIndividual>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D9kitchen_island_counter_top -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D9kitchen_island_counter_top">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D"/>
- <knowrob:m00 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.0</knowrob:m00>
- <knowrob:m11 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.0</knowrob:m11>
- <knowrob:m03 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">-1.05289</knowrob:m03>
- <knowrob:m01 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m01>
- <knowrob:m32 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m32>
- <knowrob:m10 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m10>
- <knowrob:m21 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m21>
- <knowrob:m30 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m30>
- <knowrob:m12 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m12>
- <knowrob:m20 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m20>
- <knowrob:m02 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m02>
- <knowrob:m31 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.0</knowrob:m31>
- <knowrob:m23 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">0.85</knowrob:m23>
- <knowrob:m33 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m33>
- <knowrob:m22 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.0</knowrob:m22>
- <knowrob:m13 rdf:datatype="http://www.w3.org/2001/XMLSchema#double">1.656244</knowrob:m13>
- </owl:NamedIndividual>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception10 -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception10">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D9kitchen_island"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_island"/>
- </owl:NamedIndividual>
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception10kitchen_island_counter_top -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception10kitchen_island_counter_top">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D9kitchen_island_counter_top"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_island_counter_top"/>
- </owl:NamedIndividual>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception12 -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception12">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D11kitchen_sink_block"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_sink_block"/>
- </owl:NamedIndividual>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception12kitchen_sink_block_counter_top -->
-
- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception12kitchen_sink_block_counter_top">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D11kitchen_sink_block_counter_top"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_sink_block_counter_top"/>
- </owl:NamedIndividual>
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception2 -->
-
-<!-- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception2">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D1kitchen_oven_block"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_oven_block"/>
- </owl:NamedIndividual>-->
-
-
-
- <!-- http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception4 -->
-
-<!-- <owl:NamedIndividual rdf:about="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception4">
- <rdf:type rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#SemanticMapPerception"/>
- <knowrob:startTime rdf:resource="http://ias.cs.tum.edu/kb/ias_semantic_map.owl#timepoint_1361536619"/>
- <knowrob:eventOccursAt rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#RotationMatrix3D3kitchen_fridge_block"/>
- <knowrob:objectActedOn rdf:resource="http://ias.cs.tum.edu/kb/knowrob.owl#kitchen_fridge_block"/>
- </owl:NamedIndividual> -->
-
-
-
-</rdf:RDF>
-
-
-
-<!-- Generated by the OWL API (version 3.1.0.1592) http://owlapi.sourceforge.net -->
-
diff --git a/iai_semantic_maps/prolog/iai_maps.pl b/iai_semantic_maps/prolog/iai_maps.pl
deleted file mode 100644
index 9ec3ba5..0000000
--- a/iai_semantic_maps/prolog/iai_maps.pl
+++ /dev/null
@@ -1,58 +0,0 @@
-%%
-%% Copyright (C) 2009 by Lars Kunze, Lorenz Moesenlechner, Moritz Tenorth
-%%
-%% This program is free software; you can redistribute it and/or modify
-%% it under the terms of the GNU General Public License as published by
-%% the Free Software Foundation; either version 3 of the License, or
-%% (at your option) any later version.
-%%
-%% This program is distributed in the hope that it will be useful,
-%% but WITHOUT ANY WARRANTY; without even the implied warranty of
-%% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-%% GNU General Public License for more details.
-%%
-%% You should have received a copy of the GNU General Public License
-%% along with this program. If not, see <http://www.gnu.org/licenses/>.
-%%
-
-:- module(iai_maps,
- [
- likely_qual_object_locations/3
- ]).
-
-
-:- rdf_meta
- likely_qual_object_locations(r,r,-).
-
-
-%% likely_qual_object_locations(+ObjClass, -Loc, -Prob) is nondet.
-%
-% Compute likely object locations using the following schema:
-% - If the system knows about an instance of the object class, it returns the
-% container it is in or the surface it is on
-% - If no instance can be found in the semantic map, the query returns results
-% computed based on the semantic similarity to other objects and chooses the
-% container or surface where the most similar objects can be found
-%
-% Prob is a pseudo-probability that is either '1' (if an instance is known)
-% or describes the WUP similarity to the most similar object at that location
-%
-% see also Martin Schuster, Dominik Jain, Moritz Tenorth, Michael Beetz,
-% "Learning Organizational Principles in Human Environments",
-% In IEEE International Conference on Robotics and Automation (ICRA),
-% St. Paul, MN, USA, 2012.
-%
-% @param ObjClass OWL identifier of an object class
-% @param Loc OWL identifier of a container instance in the semantic map
-% @param Prob Pseudo-probability of finding an object of type ObjClass at location Loc
-%
-likely_qual_object_locations(ObjClass, Loc, Prob) :-
-
- findall(ObjClass-Loc-Prob, (
- (owl_individual_of(ObjInst, ObjClass),
- rdf_triple(knowrob:'in-ContGeneric', ObjInst, Loc),
- Prob=1) ;
- (best_location_maxMaxWup(ObjClass, Loc, Prob), Prob > 0)
- ), Locs),
- list_to_set(Locs, LocsUnique),
- member(ObjClass-Loc-Prob, LocsUnique).
diff --git a/iai_semantic_maps/prolog/iai_maps_addons.pl.in b/iai_semantic_maps/prolog/iai_maps_addons.pl.in
deleted file mode 100644
index 837d3d2..0000000
--- a/iai_semantic_maps/prolog/iai_maps_addons.pl.in
+++ /dev/null
@@ -1,29 +0,0 @@
-%%
-%% Copyright (C) 2009 by Lars Kunze, Lorenz Moesenlechner, Moritz Tenorth
-%%
-%% This program is free software; you can redistribute it and/or modify
-%% it under the terms of the GNU General Public License as published by
-%% the Free Software Foundation; either version 3 of the License, or
-%% (at your option) any later version.
-%%
-%% This program is distributed in the hope that it will be useful,
-%% but WITHOUT ANY WARRANTY; without even the implied warranty of
-%% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-%% GNU General Public License for more details.
-%%
-%% You should have received a copy of the GNU General Public License
-%% along with this program. If not, see <http://www.gnu.org/licenses/>.
-%%
-
-:- use_module(library('semweb/rdfs_computable')).
-:- use_module(library('semweb/rdf_db')).
-:- use_module(library('semweb/rdfs')).
-:- use_module(library('thea/owl_parser')).
-:- use_module(library('semweb/owl')).
-:- use_module(library('semweb/rdf_edit')).
-:- use_module(library('semweb/actionmodel')).
-
-:- owl_parser:owl_parse('@LOCAL_PACKAGE_PATH@/owl/iai_maps_addons.owl', false, false, true).
-
-:- rdf_db:rdf_register_ns(knowrob, 'http://ias.cs.tum.edu/kb/knowrob.owl#', [keep(true)]).
-:- rdf_db:rdf_register_ns(iai_maps_addons, 'http://ias.cs.tum.edu/kb/iai_maps_addons.owl#', [keep(true)]).
diff --git a/iai_semantic_maps/prolog/room.pl.in b/iai_semantic_maps/prolog/init.pl
similarity index 57%
rename from iai_semantic_maps/prolog/room.pl.in
rename to iai_semantic_maps/prolog/init.pl
index c5da479..6cc5335 100644
--- a/iai_semantic_maps/prolog/room.pl.in
+++ b/iai_semantic_maps/prolog/init.pl
@@ -1,5 +1,4 @@
-%%
-%% Copyright (C) 2009 by Lars Kunze, Lorenz Moesenlechner, Moritz Tenorth
+%% Copyright (C) 2013 by Moritz Tenorth, Jan Winkler
%%
%% This program is free software; you can redistribute it and/or modify
%% it under the terms of the GNU General Public License as published by
@@ -13,17 +12,11 @@
%%
%% You should have received a copy of the GNU General Public License
%% along with this program. If not, see <http://www.gnu.org/licenses/>.
-%%
-:- use_module(library('semweb/rdfs_computable')).
-:- use_module(library('semweb/rdf_db')).
-:- use_module(library('semweb/rdfs')).
-:- use_module(library('thea/owl_parser')).
-:- use_module(library('semweb/owl')).
-:- use_module(library('semweb/rdf_edit')).
-:- use_module(library('semweb/actionmodel')).
-:- owl_parser:owl_parse('@LOCAL_PACKAGE_PATH@/owl/room.owl', false, false, true).
+:- register_ros_package(knowrob_map_tools).
+:- register_ros_package(knowrob_map_data).
+:- register_ros_package(iai_maps).
-:- rdf_db:rdf_register_ns(knowrob, 'http://ias.cs.tum.edu/kb/knowrob.owl#', [keep(true)]).
:- rdf_db:rdf_register_ns(iai_maps, 'http://ias.cs.tum.edu/kb/room.owl#', [keep(true)]).
+
diff --git a/iai_semantic_maps/prolog/init.pl.in b/iai_semantic_maps/prolog/init.pl.in
deleted file mode 100644
index a6354d8..0000000
--- a/iai_semantic_maps/prolog/init.pl.in
+++ /dev/null
@@ -1,48 +0,0 @@
-%% Copyright (C) 2013 by Moritz Tenorth, Jan Winkler
-%%
-%% This program is free software; you can redistribute it and/or modify
-%% it under the terms of the GNU General Public License as published by
-%% the Free Software Foundation; either version 3 of the License, or
-%% (at your option) any later version.
-%%
-%% This program is distributed in the hope that it will be useful,
-%% but WITHOUT ANY WARRANTY; without even the implied warranty of
-%% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-%% GNU General Public License for more details.
-%%
-%% You should have received a copy of the GNU General Public License
-%% along with this program. If not, see <http://www.gnu.org/licenses/>.
-
-:- register_ros_package(iai_maps).
-
-:- register_ros_package(comp_spatial).
-:- use_module(library('comp_spatial')).
-
-:- register_ros_package(semweb).
-:- use_module(library('semweb/rdfs_computable')).
-:- use_module(library('semweb/rdf_db')).
-:- use_module(library('semweb/rdfs')).
-:- use_module(library('thea/owl_parser')).
-:- use_module(library('semweb/owl')).
-:- use_module(library('semweb/rdf_edit')).
-:- use_module(library('semweb/actionmodel')).
-
-% :- register_ros_package(ias_semantic_map).
-% :- use_module(library('ias_semantic_map')).
-:- use_module(library('semantic_map_utils')).
-
-:- register_ros_package(knowrob_cad_models).
-:- register_ros_package(knowrob_cad_parser).
-
-:- register_ros_package(comp_orgprinciples).
-:- use_module(library('comp_orgprinciples')).
-
-:- owl_parser:owl_parse('@LOCAL_PACKAGE_PATH@/owl/room.owl', false, false, true).
-:- owl_parser:owl_parse('@LOCAL_PACKAGE_PATH@/owl/iai_maps_addons.owl', false, false, true).
-
-:- rdf_db:rdf_register_ns(knowrob, 'http://ias.cs.tum.edu/kb/knowrob.owl#', [keep(true)]).
-:- rdf_db:rdf_register_ns(iai_maps, 'http://ias.cs.tum.edu/kb/room.owl#', [keep(true)]).
-
-:- use_module(library(iai_maps)).
-:- consult('iai_maps_addons').
-
diff --git a/iai_semantic_maps/prolog/semantic_map_utils.pl b/iai_semantic_maps/prolog/semantic_map_utils.pl
deleted file mode 100644
index 913c6e9..0000000
--- a/iai_semantic_maps/prolog/semantic_map_utils.pl
+++ /dev/null
@@ -1,194 +0,0 @@
-%%
-%% Copyright (C) 2009-13 by Lars Kunze, Lorenz Moesenlechner, Moritz Tenorth
-%%
-%% This program is free software; you can redistribute it and/or modify
-%% it under the terms of the GNU General Public License as published by
-%% the Free Software Foundation; either version 3 of the License, or
-%% (at your option) any later version.
-%%
-%% This program is distributed in the hope that it will be useful,
-%% but WITHOUT ANY WARRANTY; without even the implied warranty of
-%% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-%% GNU General Public License for more details.
-%%
-%% You should have received a copy of the GNU General Public License
-%% along with this program. If not, see <http://www.gnu.org/licenses/>.
-%%
-
-:- module(semantic_map_utils,
- [
- map_instance/1,
- map_read_all/1,
- map_read_all/2,
- map_object_info/1,
- map_object_type/2,
- map_root_objects/2,
- map_root_object/2,
- map_object_dimensions/4,
- map_child_object/2,
- map_child_objects/2,
- map_object_label/2,
- map_connection_type/3,
- map_joint_name/3,
- rdf_atom_no_ns/2
- ]).
-
-
-:- use_module(library('semweb/rdfs')).
-:- use_module(library('thea/owl_parser')).
-:- use_module(library('semweb/owl')).
-:- use_module(library('semweb/rdfs_computable')).
-:- use_module(library('knowrob_objects')).
-:- use_module(library('knowrob_perception')).
-
-
-:- rdf_meta
- map_instance(r),
- map_read_all(-),
- map_read_all(-,r),
- map_root_object(r,r),
- map_root_objects(r,?),
- map_child_object(r,r),
- map_child_objects(r,?),
- map_object_info(?),
- map_object_type(r,r),
- map_object_dimensions(r,?,?,?),
- map_object_label(r,?),
- map_connection_type(r,r,+),
- map_joint_name(r,r,r),
- rdf_atom_no_ns(r,?).
-
-
-
-% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %
-% Map root and child objects
-
-map_root_objects( Map, Objs ) :-
- setof( Obj, map_root_object(Map, Obj), Objs).
-
-map_root_object( Map, Obj ) :-
- owl_has(Obj, knowrob:describedInMap, Map),
- (owl_individual_of(Obj, knowrob:'StorageConstruct');
- owl_individual_of(Obj, knowrob:'WallOfAConstruction');
- owl_individual_of(Obj, knowrob:'FurniturePiece');
- owl_individual_of(Obj, knowrob:'CounterTop')).
-
-
-map_child_objects( Parent, Children ) :-
- setof( Child, map_child_object(Parent, Child), Children).
-
-map_child_object( Parent, Child ) :-
- owl_has( Parent, knowrob:'properPhysicalParts', Child ),
- not( owl_individual_of(Child, knowrob:'Connection-Physical') ).
-
-
-
-% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %
-% Read object properties
-
-
-map_object_info([Inst, Type, Pose, [D, W, H]]) :-
- map_instance(Map),
- map_root_object(Map, Inst),
- map_object_type(Inst, Type),
- current_object_pose(Inst, Pose),
- map_object_dimensions(Inst, W, D, H).
-
-map_object_type(Obj, Type) :-
- rdf_has( Obj, rdf:type, Type ),
- owl_subclass_of( Type, knowrob:'SpatialThing').
-
-map_object_label( Obj, Label ) :-
- owl_has( Obj, rdfs:label, literal(type('http://www.w3.org/2001/XMLSchema#string', Label)) ).
-
-map_object_dimensions( Obj, W, D, H ) :-
- rdf_has( Obj, knowrob:'widthOfObject', literal(type(_, W_)) ),
- atom_number(W_, W),
- rdf_has( Obj, knowrob:'depthOfObject', literal(type(_, D_)) ),
- atom_number(D_, D),
- rdf_has( Obj, knowrob:'heightOfObject', literal(type(_, H_)) ),
- atom_number(H_, H).
-
-map_object_dimensions( Obj, W, D, H ) :-
- % The depth of a knob defaults to 3cm here. This information
- % should either be asserted somewhere else or be set as a property
- % when importing the semantic map.
- rdf_has( Obj, knowrob:'radius', literal(type(_, Radius_)) ),
- atom_number(Radius_, Radius),
- W is 2 * Radius,
- H is 2 * Radius,
- D is 0.03.
-
-
-
-
-
-% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %
-% Read joints and connections between object parts
-
-
-% TODO: This does not seem correct, but I am not sure what these predicates
-% are to do after all, so I let them like this for now (MT).
-map_connection_type( Parent, Child, 'HingedJoint' ) :-
- rdf_has( Parent, knowrob:'properPhysicalParts', Child ),
- rdf_has( Child, knowrob:'properPhysicalParts', Joint ),
- owl_individual_of(Joint, knowrob:'HingedJoint'), !.
-
-map_connection_type( Parent, Parent, 'PrismaticJoint' ) :-
- rdf_has( Parent, rdf:type, knowrob:'Drawer' ), !.
-
-map_connection_type( Parent, Child, 'Fixed' ) :-
- rdf_has( Parent, knowrob:'properPhysicalParts', Child ).
-
-map_joint_name( Parent, Child, Name ) :-
- rdf_has( Parent, knowrob:'properPhysicalParts', Child ),
- rdf_has( Child, knowrob:'properPhysicalParts', Name ),
- owl_individual_of( Name, knowrob:'Connection-Physical' ).
-
-
-
-% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %
-% Read map instance and content
-
-map_instance( Map ) :-
- rdf_has(Map, rdf:type, knowrob:'SemanticEnvironmentMap').
-
-map_read_all([R0|EntityList]) :-
- map_read_all([R0|EntityList], 'http://ias.cs.tum.edu/kb/ias_semantic_map.owl#SemanticEnvironmentMap0').
-
-map_read_all([R0|EntityList], MapInstance) :-
- map_read_entity(MapInstance, 'null', R0),
- setof(TopLevelObj, owl_has(TopLevelObj, knowrob:describedInMap, MapInstance), TopLevelObjs),
- map_read_entities(TopLevelObjs, MapInstance, EntityList).
-
-map_read_entities([], _, []).
-map_read_entities([E|Es], P, Res) :-
- ((setof(Part, rdf_has(E, knowrob:properPhysicalParts, Part), Parts)) -> (
- map_read_entity(E, P, R0),
- map_read_entities(Parts, E, Rs),
- append([R0], Rs, R)
- );(
- map_read_entity(E, P, R1),
- R=[R1]
- )),
- map_read_entities(Es, P, Res1),
- append(R, Res1, Res).
-
-
-map_read_entity(E, Parent, [E_no_ns, Parent_no_ns, Pose]) :-
- rdf_atom_no_ns(E, E_no_ns),
- ((Parent = 'null') ->
- (Parent_no_ns = Parent) ;
- rdf_atom_no_ns(Parent, Parent_no_ns)),
- current_object_pose( E, Pose ).
-
-
-
-
-% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %
-% Utility methods
-
-rdf_atom_no_ns( IRI, LocalName ) :-
- rdf_split_url(_, LocalName, IRI ).
-
-
From 58c28b51918f472b8b231500ca3ff3e17096c9e2 Mon Sep 17 00:00:00 2001
From: Moritz Tenorth <tenorth@cs.uni-bremen.de>
Date: Fri, 1 Aug 2014 15:27:49 +0200
Subject: [PATCH 3/8] updated launch file for json_prolog service with new
syntax
---
iai_maps/launch/json.launch | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/iai_maps/launch/json.launch b/iai_maps/launch/json.launch
index 61f6f9c..c08f9ec 100644
--- a/iai_maps/launch/json.launch
+++ b/iai_maps/launch/json.launch
@@ -1,3 +1,6 @@
<launch>
- <node name="json_prolog" pkg="rosprolog" type="run_with_prolog_env" args="iai_maps $(find json_prolog)/bin/json_prolog" />
+ <param name="initial_package" type="string" value="knowrob_map_data" />
+ <param name="initial_goal" type="string" value="owl_parse('package://iai_maps/owl/room.owl')" />
+
+ <node name="json_prolog" pkg="json_prolog" type="json_prolog_node" cwd="node" output="screen" />
</launch>
From 465921106b9dc4cd05241c1a1fd3f342b49a1d25 Mon Sep 17 00:00:00 2001
From: Moritz Tenorth <tenorth@cs.uni-bremen.de>
Date: Fri, 1 Aug 2014 15:28:10 +0200
Subject: [PATCH 4/8] corrected package names in package.xml
---
iai_kitchen_defs/package.xml | 2 +-
iai_maps/package.xml | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/iai_kitchen_defs/package.xml b/iai_kitchen_defs/package.xml
index 0a6526c..9f042c8 100644
--- a/iai_kitchen_defs/package.xml
+++ b/iai_kitchen_defs/package.xml
@@ -1,5 +1,5 @@
<package>
- <name>iai_semantic_maps</name>
+ <name>iai_kitchen_defs</name>
<version>1.0.0</version>
<description>URDF description of the kitchen laboratory of the IAI in Bremen</description>
diff --git a/iai_maps/package.xml b/iai_maps/package.xml
index 224f6b0..980e68f 100644
--- a/iai_maps/package.xml
+++ b/iai_maps/package.xml
@@ -1,5 +1,5 @@
<package>
- <name>iai_semantic_maps</name>
+ <name>iai_maps</name>
<version>1.0.0</version>
<description>Maps of the kitchen laboratory of the IAI in Bremen</description>
From 25db18e163a81d37939f8ad88fd57a8a4ce07f97 Mon Sep 17 00:00:00 2001
From: Moritz Tenorth <tenorth@cs.uni-bremen.de>
Date: Fri, 1 Aug 2014 15:55:29 +0200
Subject: [PATCH 5/8] also fixed package names in CMakeLists
---
iai_kitchen_defs/CMakeLists.txt | 59 +--------------------------------
iai_maps/CMakeLists.txt | 2 +-
2 files changed, 2 insertions(+), 59 deletions(-)
diff --git a/iai_kitchen_defs/CMakeLists.txt b/iai_kitchen_defs/CMakeLists.txt
index 9b51b32..2b8ef08 100644
--- a/iai_kitchen_defs/CMakeLists.txt
+++ b/iai_kitchen_defs/CMakeLists.txt
@@ -1,66 +1,9 @@
cmake_minimum_required(VERSION 2.8.3)
-project(iai_semantic_maps)
+project(iai_kitchen_defs)
find_package(catkin REQUIRED COMPONENTS xacro)
catkin_package(
DEPENDS xacro
)
-
-
-#
-# file(GLOB def_files ${CMAKE_CURRENT_SOURCE_DIR}/defs/*.xml
-# ${CMAKE_CURRENT_SOURCE_DIR}/robots/*groups*.xml)
-#
-# file(GLOB xacros ${CMAKE_CURRENT_SOURCE_DIR}/robots/*.urdf.xml)
-#
-#
-#
-# set(outfiles "")
-#
-# foreach( _xacro ${xacros} )
-# string(REPLACE ".urdf." ".expanded." _outfile ${_xacro})
-# add_custom_command(
-# OUTPUT ${_outfile}
-# COMMAND ${xacro_PACKAGE_PATH}/xacro.py
-# ARGS ${_xacro} > ${_outfile}
-# DEPENDS ${_xacro} ${def_files})
-# list(APPEND outfiles ${_outfile})
-# endforeach( _xacro)
-#
-# add_custom_target( expanded_defs ALL DEPENDS ${outfiles} )
-#
-
-#
-#
-#
-# # Generate .world files from .world.xacro files
-# find_package(xacro REQUIRED)
-# # You can also add xacro to the list of catkin packages:
-# # find_package(catkin REQUIRED COMPONENTS ... xacro)
-#
-# set(world_files "")
-#
-# # Xacro files
-# file(GLOB model_xacro_files ${CMAKE_CURRENT_SOURCE_DIR}/worlds/*/*.xacro)
-#
-# # Dependency files
-# file(GLOB world_xacro_files ${CMAKE_CURRENT_SOURCE_DIR}/worlds/*.world.xacro)
-#
-# foreach(it ${world_xacro_files})
-# get_filename_component(basepath ${it} PATH)
-# get_filename_component(basename ${it} NAME_WE)
-#
-# message(" processing world file :",${basepath}," : ",${basename})
-#
-# set(expanded_file "${basepath}/${basename}.world")
-# message(" produce expanded file :", ${expanded_file})
-#
-# xacro_add_xacro_file(${it} ${expanded_file})
-#
-# set(world_files ${world_files} ${expanded_file})
-# endforeach(it)
-#
-# add_custom_target(media_files ALL DEPENDS ${world_files})
-#
diff --git a/iai_maps/CMakeLists.txt b/iai_maps/CMakeLists.txt
index cc6ae59..1770d62 100644
--- a/iai_maps/CMakeLists.txt
+++ b/iai_maps/CMakeLists.txt
@@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 2.8.3)
-project(iai_semantic_maps)
+project(iai_maps)
find_package(catkin)
From 8b4db95df5e03b3afb37d5ab2d129a93011c0558 Mon Sep 17 00:00:00 2001
From: Moritz Tenorth <tenorth@cs.uni-bremen.de>
Date: Fri, 1 Aug 2014 15:55:50 +0200
Subject: [PATCH 6/8] adapted launch files to the new package structure
---
iai_maps/launch/json.launch | 2 +-
iai_maps/launch/kitchen_with_state_publisher.launch | 2 +-
iai_maps/launch/room.launch | 2 +-
3 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/iai_maps/launch/json.launch b/iai_maps/launch/json.launch
index c08f9ec..51623f6 100644
--- a/iai_maps/launch/json.launch
+++ b/iai_maps/launch/json.launch
@@ -1,6 +1,6 @@
<launch>
<param name="initial_package" type="string" value="knowrob_map_data" />
- <param name="initial_goal" type="string" value="owl_parse('package://iai_maps/owl/room.owl')" />
+ <param name="initial_goal" type="string" value="owl_parse('package://iai_semantic_maps/owl/room.owl')" />
<node name="json_prolog" pkg="json_prolog" type="json_prolog_node" cwd="node" output="screen" />
</launch>
diff --git a/iai_maps/launch/kitchen_with_state_publisher.launch b/iai_maps/launch/kitchen_with_state_publisher.launch
index 872c74f..59a4066 100644
--- a/iai_maps/launch/kitchen_with_state_publisher.launch
+++ b/iai_maps/launch/kitchen_with_state_publisher.launch
@@ -1,7 +1,7 @@
<launch>
<param name="kitchen_description"
- command="$(find xacro)/xacro.py '$(find iai_maps)/room/kitchen_area.urdf.xml'"
+ command="$(find xacro)/xacro.py '$(find iai_kitchen_defs)/room/kitchen_area.urdf.xml'"
/>
<node pkg="tf" type="static_transform_publisher" name="kitchen_link_broadcaster"
diff --git a/iai_maps/launch/room.launch b/iai_maps/launch/room.launch
index 99c70f1..73878c7 100644
--- a/iai_maps/launch/room.launch
+++ b/iai_maps/launch/room.launch
@@ -1,7 +1,7 @@
<launch>
<param name="room_description"
- command="$(find xacro)/xacro.py '$(find iai_maps)/room/room.urdf.xml'"
+ command="$(find xacro)/xacro.py '$(find iai_kitchen_defs)/room/room.urdf.xml'"
/>
<node pkg="tf" type="static_transform_publisher" name="room_link_broadcaster"
From e362df7c8b0a3f055cfb99de39059a9c125e31c8 Mon Sep 17 00:00:00 2001
From: Moritz Tenorth <tenorth@cs.uni-bremen.de>
Date: Fri, 1 Aug 2014 16:00:02 +0200
Subject: [PATCH 7/8] removed rviz launch file; the respective rviz config had
already been removed
---
iai_maps/launch/iai_kitchen_in_rviz.launch | 6 ------
1 file changed, 6 deletions(-)
delete mode 100644 iai_maps/launch/iai_kitchen_in_rviz.launch
diff --git a/iai_maps/launch/iai_kitchen_in_rviz.launch b/iai_maps/launch/iai_kitchen_in_rviz.launch
deleted file mode 100644
index 564c2ac..0000000
--- a/iai_maps/launch/iai_kitchen_in_rviz.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-
- <include file="$(find iai_maps)/launch/kitchen_with_state_publisher.launch" />
-
- <node pkg="rviz" type="rviz" name="ias_kitchen_rviz" args="-d $(find iai_maps)/rviz_configs/iai_kitchen_only.rviz"/>
-</launch>
From 2eb2da840e2eaa3b3e36fd2b6e1ea96fe1a9dc85 Mon Sep 17 00:00:00 2001
From: Moritz Tenorth <knowrob@tenorth.de>
Date: Fri, 1 Aug 2014 16:02:56 +0200
Subject: [PATCH 8/8] Added Readme.md
---
README.md | 13 +++++++++++++
1 file changed, 13 insertions(+)
create mode 100644 README.md
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..1bfbaaa
--- /dev/null
+++ b/README.md
@@ -0,0 +1,13 @@
+iai_maps
+========
+
+The semantic and ground lab and environment maps for projects in the IAI group in the University of Bremen.
+
+The maps have been split into several packages:
+
+ * iai_maps: 2D maps for localization
+ -> formerly subfolders 'maps', 'launch'
+ * iai_kitchen_defs: URDF model of the kitchen
+ -> formerly subfolders 'defs', 'room', 'Media'
+ * iai_semantic_map: Semantic OWL map of the kitchen
+ -> formerly subfolders 'prolog', 'owl'