Knob
type: Class
subclass of: DesignedComponent
comment: It can be descrbed as usually round shaped object(although the shape can vary based on design), attached to surface of something (mostly doors or euipments) which can be used either for opening and closing in case of doors or starting and stoping in case of machines or equipments.

iai kitchen fridge area
type: NamedIndividual
type: IAIFridgeArea
has base link name: fridge_area
has end link name: fridge_area_lower_drawer_main
has end link name: iai_fridge_door
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen fridge area footprint
type: NamedIndividual
has base link name: fridge_area_footprint
has end link name: fridge_area_main
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen fridge area lower drawer handle
type: NamedIndividual
type: IAIHandle60
has base link name: fridge_area_lower_drawer_handle
has end link name: fridge_area_lower_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen fridge area lower drawer main
type: NamedIndividual
type: IAIDrawer 60 29
has base link name: fridge_area_lower_drawer_main
has end link name: fridge_area_lower_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen fridge door
type: NamedIndividual
type: IAIFridgeDoor
door hinged to: iai kitchen fridge main
depth of object: 0.05
height of object: 0.72
width of object: 0.59
has base link name: iai_fridge_door
has end link name: fridge_door_handle
door hinged with: iai kitchen fridge door hinged joint
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen fridge door handle
type: NamedIndividual
type: IAIFridgeDoorHandle
depth of object: 0.07
height of object: 0.85
width of object: 0.01
has URDF name: iai_fridge_door_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen fridge door hinged joint
type: NamedIndividual
type: HingedJoint
connected to-rigidly: iai kitchen fridge door
connected to-rigidly: iai kitchen fridge main
depth of object: 0.0
has visual: false
height of object: 0.0
max joint value: 2.0
min joint value: 0.0
width of object: 0.0
opening direction: CCW
turn radius: 0.6

iai kitchen fridge main
type: NamedIndividual
type: IAIFridge
has part: iai kitchen fridge door
has part: iai kitchen fridge door handle
has base link name: iai_fridge_main
has end link name: iai_fridge_door
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island
type: NamedIndividual
type: IAIKitchenIsland
has base link name: kitchen_island
has end link name: kitchen_island_left_lower_drawer_main
has end link name: kitchen_island_left_panel
has end link name: kitchen_island_left_upper_drawer_main
has end link name: kitchen_island_middle_lower_drawer_main
has end link name: kitchen_island_middle_panel
has end link name: kitchen_island_middle_upper_drawer_main
has end link name: kitchen_island_right_lower_drawer_main
has end link name: kitchen_island_right_panel
has end link name: kitchen_island_right_upper_drawer_main
has end link name: kitchen_island_stove
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island counter top
type: NamedIndividual
type: Countertop
depth of object: 0.8
has visual: false
height of object: 0.02
main color of object: 0.8 0.8 0.8 1.0
width of object: 2.45

iai kitchen kitchen island footprint
type: NamedIndividual
has visual: false
has base link name: kitchen_island_footprint
has end link name: kitchen_island
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island left lower drawer handle
type: NamedIndividual
type: IAIHandle60
has base link name: kitchen_island_left_lower_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island left lower drawer main
type: NamedIndividual
type: IAIDrawer 60 29
has base link name: kitchen_island_left_lower_drawer_main
has end link name: kitchen_island_left_lower_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island left panel
type: NamedIndividual
type: IAIPanel60
has base link name: kitchen_island_left_panel
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island left upper drawer handle
type: NamedIndividual
type: IAIHandle60
has base link name: kitchen_island_left_upper_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island left upper drawer main
type: NamedIndividual
type: IAIDrawer 60 29
has base link name: kitchen_island_left_upper_drawer_main
has end link name: kitchen_island_left_upper_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island middle lower drawer handle
type: NamedIndividual
type: IAIHandle100
has base link name: kitchen_island_middle_lower_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island middle lower drawer main
type: NamedIndividual
type: IAIDrawer 100 29
has base link name: kitchen_island_middle_lower_drawer_main
has end link name: kitchen_island_middle_lower_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island middle panel
type: NamedIndividual
type: IAIPanel100
has base link name: kitchen_island_middle_panel
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island middle upper drawer handle
type: NamedIndividual
type: IAIHandle100
has base link name: kitchen_island_middle_upper_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island middle upper drawer main
type: NamedIndividual
type: IAIDrawer 100 29
has base link name: kitchen_island_middle_upper_drawer_main
has end link name: kitchen_island_middle_upper_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island right lower drawer handle
type: NamedIndividual
type: IAIHandle60
has base link name: kitchen_island_right_lower_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island right lower drawer main
type: NamedIndividual
type: IAIDrawer 60 29
has base link name: kitchen_island_right_lower_drawer_main
has end link name: kitchen_island_right_lower_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island right panel
type: NamedIndividual
type: IAIPanel60
has base link name: kitchen_island_right_panel
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island right upper drawer handle
type: NamedIndividual
type: IAIHandle60
has base link name: kitchen_island_right_upper_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island right upper drawer main
type: NamedIndividual
type: IAIDrawer 60 29
has base link name: kitchen_island_right_upper_drawer_main
has end link name: kitchen_island_right_upper_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen kitchen island stove
type: NamedIndividual
type: IAIKitchenIslandStove
has base link name: kitchen_island_stove
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen meal table counter top
type: NamedIndividual
type: Countertop
depth of object: 1.6
height of object: 0.02
main color of object: 0.4 0.4 0.4 1.0
width of object: 0.9

iai kitchen oven area area
type: NamedIndividual
type: IAIOvenArea
has base link name: oven_area_area
has end link name: oven_area_area_left_drawer_main
has end link name: oven_area_area_middle_lower_drawer_main
has end link name: oven_area_area_middle_upper_drawer_main
has end link name: oven_area_area_right_drawer_main
has end link name: oven_area_oven_main
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area area footprint
type: NamedIndividual
has visual: false
has base link name: oven_area_area_footprint
has end link name: oven_area_main
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area area left drawer handle
type: NamedIndividual
type: IAIHandleVert
has base link name: oven_area_area_left_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area area left drawer main
type: NamedIndividual
type: IAIDrawer Vert
has base link name: oven_area_area_left_drawer_main
has end link name: oven_area_area_left_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area area middle lower drawer handle
type: NamedIndividual
type: IAIHandle60
has base link name: oven_area_area_middle_lower_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area area middle lower drawer main
type: NamedIndividual
type: IAIDrawer 60 58
has base link name: oven_area_area_middle_lower_drawer_main
has end link name: oven_area_area_middle_lower_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area area middle upper drawer handle
type: NamedIndividual
type: IAIHandle60
has base link name: oven_area_area_middle_upper_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area area middle upper drawer main
type: NamedIndividual
type: IAIDrawer 60 14
has base link name: oven_area_area_middle_upper_drawer_main
has end link name: oven_area_area_middle_upper_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area area right drawer handle
type: NamedIndividual
type: IAIHandleVert
has base link name: oven_area_area_right_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area area right drawer main
type: NamedIndividual
type: IAIDrawer Vert
has base link name: oven_area_area_right_drawer_main
has end link name: oven_area_area_right_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area oven door
type: NamedIndividual
type: IAIOvenDoor
has base link name: oven_area_oven_door
has end link name: oven_area_oven_door_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area oven door handle
type: NamedIndividual
type: IAIHandle60
has base link name: oven_area_oven_door_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area oven knob oven
type: NamedIndividual
type: IAIOvenKnob
has base link name: oven_area_oven_knob_oven
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area oven knob stove 1
type: NamedIndividual
type: IAIOvenKnob
has base link name: oven_area_oven_knob_stove_1
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area oven knob stove 2
type: NamedIndividual
type: IAIOvenKnob
has base link name: oven_area_oven_knob_stove_2
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area oven knob stove 3
type: NamedIndividual
type: IAIOvenKnob
has base link name: oven_area_oven_knob_stove_3
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area oven knob stove 4
type: NamedIndividual
type: IAIOvenKnob
has base link name: oven_area_oven_knob_stove_4
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area oven main
type: NamedIndividual
type: IAIOven
has part: iai kitchen oven area oven door
has part: iai kitchen oven area oven door handle
has part: iai kitchen oven area oven knob oven
has part: iai kitchen oven area oven knob stove 1
has part: iai kitchen oven area oven knob stove 2
has part: iai kitchen oven area oven knob stove 3
has part: iai kitchen oven area oven knob stove 4
has part: iai kitchen oven area oven panel
has base link name: oven_area_oven_main
has end link name: oven_area_oven_door
has end link name: oven_area_oven_panel
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen oven area oven panel
type: NamedIndividual
type: IAIOvenPanel
has base link name: oven_area_oven_panel
has end link name: oven_area_oven_knob_oven
has end link name: oven_area_oven_knob_stove_1
has end link name: oven_area_oven_knob_stove_2
has end link name: oven_area_oven_knob_stove_3
has end link name: oven_area_oven_knob_stove_4
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen room link
type: NamedIndividual
type: IAIKitchen
has visual: true
has base link name: room_link
has end link name: fridge_area
has end link name: kitchen_island
has end link name: oven_area
has end link name: sink_area

iai kitchen sink area
type: NamedIndividual
type: IAISinkArea
has base link name: room_link
has base link name: sink_area
has end link name: sink_area_dish_washer_door
has end link name: sink_area_dish_washer_door_handle
has end link name: sink_area_dish_washer_main
has end link name: sink_area_footprint
has end link name: sink_area_left_bottom_drawer_handle
has end link name: sink_area_left_bottom_drawer_main
has end link name: sink_area_left_middle_drawer_handle
has end link name: sink_area_left_middle_drawer_main
has end link name: sink_area_left_upper_drawer_handle
has end link name: sink_area_left_upper_drawer_main
has end link name: sink_area_right_panel
has end link name: sink_area_sink
has end link name: sink_area_trash_drawer_handle
has end link name: sink_area_trash_drawer_main
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area counter top
type: NamedIndividual
type: Countertop
depth of object: 0.575
has visual: false
height of object: 0.02
main color of object: 0.8 0.8 0.8 1.0
width of object: 2.05

iai kitchen sink area dish washer door
type: NamedIndividual
type: IAIDishWasherDoor
has base link name: sink_area_dish_washer_door
has end link name: sink_area_dish_washer_door_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area dish washer door handle
type: NamedIndividual
type: IAIHandle60
has base link name: sink_area_dish_washer_door_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area dish washer main
type: NamedIndividual
type: IAIDishWasher
has part: iai kitchen sink area dish washer door
has part: iai kitchen sink area dish washer door handle
has base link name: sink_area_dish_washer_main
has end link name: sink_area_dish_washer_door
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area footprint
type: NamedIndividual
has visual: false
has base link name: sink_area_footprint
has end link name: sink_area_main
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area left bottom drawer handle
type: NamedIndividual
type: IAIHandle80
has base link name: sink_area_left_bottom_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area left bottom drawer main
type: NamedIndividual
type: IAIDrawer 80 29
has base link name: sink_area_left_bottom_drawer_main
has end link name: sink_area_left_bottom_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area left middle drawer handle
type: NamedIndividual
type: IAIHandle80
has base link name: sink_area_left_middle_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area left middle drawer main
type: NamedIndividual
type: IAIDrawer 80 29
has base link name: sink_area_left_middle_drawer_main
has end link name: sink_area_left_middle_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area left upper drawer handle
type: NamedIndividual
type: IAIHandle80
has base link name: sink_area_left_upper_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area left upper drawer main
type: NamedIndividual
type: IAIDrawer 80 14
has base link name: sink_area_left_upper_drawer_main
has end link name: sink_area_left_upper_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area right panel
type: NamedIndividual
type: IAIPanel60
has base link name: sink_area_right_panel
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area sink
type: NamedIndividual
type: IAISink
has base link name: sink_area_sink
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area trash drawer handle
type: NamedIndividual
type: IAIHandle60
has base link name: sink_area_trash_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0

iai kitchen sink area trash drawer main
type: NamedIndividual
type: IAIThrashDrawer
has base link name: sink_area_trash_drawer_main
has end link name: sink_area_trash_drawer_handle
sphere inertia mass: 0
sphere inertia radius: 0