VectorX
type: NamedIndividual
type: Vector
vector x: 1.0
vector y: 0.0
vector z: 0.0

VectorXneg
type: NamedIndividual
type: Vector
vector x: -1.0
vector y: 0.0
vector z: 0.0

VectorTable
type: NamedIndividual
type: Vector
vector x: 0.48313
vector y: -0.875549
vector z: 0.0

drawer sinkblock upper
type: NamedIndividual
type: Drawer
height of object: 0.14
depth of object: 0.5
width of object: 0.8
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer sinkblock upper handle
proper physical parts: drawer sinkblock upper handle
proper physical parts: drawer sinkblock upper slider

RotationMatrix3D drawer sinkblock upper
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.75
m13: 0.9
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.4

drawer sinkblock upper slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer sinkblock upper handle
connected to-rigidly: drawer sinkblock upper
direction: VectorXneg

drawer sinkblock upper handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.7
main color of object: 0.2 0.2 0.2 1.0

RotationMatrix3D sinkblock upper handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.78
m13: 0.9
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: 1.12

drawer sinkblock middle
type: NamedIndividual
type: Drawer
height of object: 0.29
depth of object: 0.5
width of object: 0.8
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer sinkblock middle handle
proper physical parts: drawer sinkblock middle handle
proper physical parts: drawer sinkblock middle slider

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_middle
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.53
m13: 0.9
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.4

drawer sinkblock middle slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer sinkblock middle handle
connected to-rigidly: drawer sinkblock middle
direction: VectorXneg

drawer sinkblock middle handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.7
main color of object: 0.2 0.2 0.2 1.0

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_sinkblock_middle_handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.64
m13: 0.9
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: 1.12

drawer sinkblock lower
type: NamedIndividual
type: Drawer
height of object: 0.29
depth of object: 0.5
width of object: 0.8
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer sinkblock lower handle
proper physical parts: drawer sinkblock lower handle
proper physical parts: drawer sinkblock lower slider

RotationMatrix3D drawer sinkblock lower
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.24
m13: 0.9
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.4

drawer sinkblock lower slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer sinkblock lower handle
connected to-rigidly: drawer sinkblock lower
direction: VectorXneg

drawer sinkblock lower handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.7
main color of object: 0.2 0.2 0.2 1.0

RotationMatrix3D sinkblock lower handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.35
m13: 0.9
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: 1.12

drawer sinkblock dishwasher
type: NamedIndividual
type: Dishwasher
height of object: 0.72
depth of object: 0.5
width of object: 0.59
described in map: SemanticEnvironmentMap PM580j
hinged to: drawer sinkblock dishwasher door
proper physical parts: drawer sinkblock dishwasher door
proper physical parts: drawer sinkblock dishwasher hinge

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_dishwasher
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.46
m13: 0.2
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.4

drawer sinkblock dishwasher hinge
type: NamedIndividual
type: HingedJoint
min joint value: 0.0
depth of object: 0.0
turn radius: 0.60
width of object: 0.0
max joint value: 1.57
height of object: 0.0
connected to-rigidly: drawer sinkblock dishwasher door
connected to-rigidly: drawer sinkblock dishwasher

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_dishwasher_hinge
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 1.0
m12: -1.0
m23: 0.46
m13: 0.2
m11: 0.0
m00: 1.0
m22: 0.0
m33: 1.0
m03: 1.4

drawer sinkblock dishwasher door
type: NamedIndividual
type: Door
height of object: 0.72
depth of object: 0.05
width of object: 0.59
proper physical parts: drawer sinkblock dishwasher handle

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_sinkblock_dishwasher_door
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.46
m13: 0.2
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.125

drawer sinkblock dishwasher handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.5
main color of object: 0.2 0.2 0.2 1.0

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_sinkblock_dishwasher_handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.78
m13: 0.2
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: 1.12

drawer sinkblock trash
type: NamedIndividual
type: Drawer
height of object: 0.57
depth of object: 0.5
width of object: 0.59
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer sinkblock trash handle
proper physical parts: drawer sinkblock trash handle
proper physical parts: drawer sinkblock trash slider

RotationMatrix3D drawer sinkblock trash
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.38
m13: -0.4
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.4

drawer sinkblock trash slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer sinkblock trash handle
connected to-rigidly: drawer sinkblock trash
direction: VectorXneg

drawer sinkblock trash handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.5
main color of object: 0.2 0.2 0.2 1.0

RotationMatrix3D sinkblock trash handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.63
m13: -0.4
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: 1.12

drawer fridge upper
type: NamedIndividual
type: Refrigerator
height of object: 0.97
depth of object: 0.5
width of object: 0.59
described in map: SemanticEnvironmentMap PM580j
hinged to: drawer fridge upper door
proper physical parts: drawer fridge upper door
proper physical parts: drawer fridge upper hinge

RotationMatrix3D drawer fridge upper
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.99
m13: -1.05
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.4

drawer fridge upper hinge
type: NamedIndividual
type: HingedJoint
min joint value: 0.0
depth of object: 0.0
turn radius: 0.60
width of object: 0.0
max joint value: 2.0
height of object: 0.0
connected to-rigidly: drawer fridge upper door
connected to-rigidly: drawer fridge upper

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_fridge_upper_hinge
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: -1.0
m20: 1.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.99
m13: -1.05
m11: 1.0
m00: 0.0
m22: 0.0
m33: 1.0
m03: 1.4

drawer fridge upper door
type: NamedIndividual
type: Door
height of object: 0.72
depth of object: 0.05
width of object: 0.59
proper physical parts: drawer fridge upper handle

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_fridge_upper_door
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.46
m13: 0.2
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.125

drawer fridge upper handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.85
main color of object: 0.2 0.2 0.2 1.0

RotationMatrix3D fridge upper handle
type: NamedIndividual
type: RotationMatrix3D
m12: -1.0
m20: 0.0
m21: 1.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.95
m13: -0.71
m11: 0.0
m33: 1.0
m00: 1.0
m22: 0.0
m03: 1.12

drawer fridge lower
type: NamedIndividual
type: Drawer
height of object: 0.36
depth of object: 0.5
width of object: 0.59
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer fridge lower handle
proper physical parts: drawer fridge lower handle
proper physical parts: drawer fridge lower slider

RotationMatrix3D drawer fridge lower
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.32
m13: -1.05
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.4

drawer fridge lower slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer fridge lower handle
connected to-rigidly: drawer fridge lower
direction: VectorXneg

drawer fridge lower handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.5
main color of object: 0.2 0.2 0.2 1.0

RotationMatrix3D fridge lower handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.45
m13: -1.05
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: 1.12

drawer oven right
type: NamedIndividual
type: Drawer
height of object: 1.32
depth of object: 0.5
width of object: 0.29
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer oven right handle
proper physical parts: drawer oven right handle
proper physical parts: drawer oven right slider

RotationMatrix3D drawer oven right
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.81
m13: 1.46
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.4

drawer oven right slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer oven right handle
connected to-rigidly: drawer oven right
direction: VectorXneg

drawer oven right handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 1.24
main color of object: 0.2 0.2 0.2 1.0

RotationMatrix3D oven right handle
type: NamedIndividual
type: RotationMatrix3D
m12: -1.0
m20: 0.0
m21: 1.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.81
m13: 1.46
m11: 0.0
m33: 1.0
m00: 1.0
m22: 0.0
m03: 1.12

drawer oven upper
type: NamedIndividual
type: RegularOven
height of object: 0.48
depth of object: 0.5
width of object: 0.59
described in map: SemanticEnvironmentMap PM580j
hinged to: drawer oven upper door
proper physical parts: drawer oven upper door
proper physical parts: drawer oven upper hinge

RotationMatrix3D drawer oven upper
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 1.12
m13: 1.88
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.4

drawer oven upper hinge
type: NamedIndividual
type: HingedJoint
min joint value: 0.0
depth of object: 0.0
turn radius: 0.60
width of object: 0.0
max joint value: 1.57
height of object: 0.0
connected to-rigidly: drawer oven upper door
connected to-rigidly: drawer oven upper

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_oven_upper_hinge
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 1.0
m12: -1.0
m23: 1.12
m13: 1.88
m11: 0.0
m00: 1.0
m22: 0.0
m33: 1.0
m03: 1.4

drawer oven upper door
type: NamedIndividual
type: Door
height of object: 0.72
depth of object: 0.05
width of object: 0.59
proper physical parts: drawer oven upper handle

RotationMatrix3D drawer oven upper door
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.46
m13: 0.2
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.125

drawer oven upper handle
type: NamedIndividual
type: Handle
height of object: 0.03
depth of object: 0.04
width of object: 0.28
main color of object: 0.2 0.2 0.2 1.0

RotationMatrix3D oven upper handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 1.11
m13: 1.88
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: 1.14

drawer oven middle
type: NamedIndividual
type: Drawer
height of object: 0.14
depth of object: 0.5
width of object: 0.59
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer oven middle handle
proper physical parts: drawer oven middle handle
proper physical parts: drawer oven middle slider

RotationMatrix3D drawer oven middle
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.79
m13: 1.88
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.4

drawer oven middle slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer oven middle handle
connected to-rigidly: drawer oven middle
direction: VectorXneg

drawer oven middle handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.5
main color of object: 0.2 0.2 0.2 1.0

RotationMatrix3D oven middle handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.82
m13: 1.88
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: 1.12

drawer oven lower
type: NamedIndividual
type: Drawer
height of object: 0.58
depth of object: 0.5
width of object: 0.59
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer oven lower handle
proper physical parts: drawer oven lower handle
proper physical parts: drawer oven lower slider

RotationMatrix3D drawer oven lower
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.44
m13: 1.88
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.4

drawer oven lower slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer oven lower handle
connected to-rigidly: drawer oven lower
direction: VectorXneg

drawer oven lower handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.5
main color of object: 0.2 0.2 0.2 1.0

RotationMatrix3D oven lower handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.67
m13: 1.88
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: 1.12

drawer oven left
type: NamedIndividual
type: Drawer
height of object: 1.32
depth of object: 0.5
width of object: 0.29
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer oven left handle
proper physical parts: drawer oven left handle
proper physical parts: drawer oven left slider

RotationMatrix3D drawer oven left
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.81
m13: 2.36
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.4

drawer oven left slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer oven left handle
connected to-rigidly: drawer oven left
direction: VectorXneg

drawer oven left handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 1.24
main color of object: 0.2 0.2 0.2 1.0

RotationMatrix3D oven left handle
type: NamedIndividual
type: RotationMatrix3D
m12: -1.0
m20: 0.0
m21: 1.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.81
m13: 2.36
m11: 0.0
m33: 1.0
m00: 1.0
m22: 0.0
m03: 1.12

drawer island left upper
type: NamedIndividual
type: Drawer
height of object: 0.29
depth of object: 0.5
width of object: 0.6
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer island left upper handle
proper physical parts: drawer island left upper handle
proper physical parts: drawer island left upper slider

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_island_left_upper
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.54
m13: 0.91
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: -1.1

drawer island left upper slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer island left upper handle
connected to-rigidly: drawer island left upper
direction: VectorX

drawer island left upper handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.5
main color of object: 0.2 0.2 0.2 1.0

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_island_left_upper_handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.63
m13: 0.91
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: -0.82

drawer island left lower
type: NamedIndividual
type: Drawer
height of object: 0.29
depth of object: 0.5
width of object: 0.6
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer island left lower handle
proper physical parts: drawer island left lower handle
proper physical parts: drawer island left lower slider

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_island_left_lower
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.25
m13: 0.91
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: -1.1

drawer island left lower slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer island left lower handle
connected to-rigidly: drawer island left lower
direction: VectorX

drawer island left lower handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.5
main color of object: 0.2 0.2 0.2 1.0

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_island_left_lower_handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.34
m13: 0.91
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: -0.82

drawer island middle upper
type: NamedIndividual
type: Drawer
height of object: 0.29
depth of object: 0.5
width of object: 0.99
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer island middle upper handle
proper physical parts: drawer island middle upper handle
proper physical parts: drawer island middle upper slider

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_island_middle_upper
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.54
m13: 1.71
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: -1.1

drawer island middle upper slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer island middle upper handle
connected to-rigidly: drawer island middle upper
direction: VectorX

drawer island middle upper handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.90
main color of object: 0.2 0.2 0.2 1.0

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_island_middle_upper_handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.63
m13: 1.71
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: -0.82

CeilingLight ovmsdobgzw
type: NamedIndividual
type: CeilingLight
described in map: SemanticEnvironmentMap PM580j
proper physical parts: Lightbulb dfr0zuejssdfx
proper physical parts: Lightbulb afg46sdfgsdfd
proper physical parts: Lightbulb sdgt456sgdsdfyw
proper physical parts: Lightbulb sdafg58hjco
proper physical parts: Lightbulb hfdfh46fadsb
proper physical parts: Lightbulb safh98ewhgb
has visual: false

Lightbulb dfr0zuejssdfx
type: NamedIndividual
type: Lightbulb
pose: Pose dfr0zuejssdfx
main color of object: 1.0 0.9450980392156862 0.8784313725490196 0.6
light cone angle: 3.14159
light spot exponent: 1.2
light type: LightTypeSpot

Pose dfr0zuejssdfx
type: NamedIndividual
type: Pose
translation: 0.2 -1.6 2.5
quaternion: 0.0 0.0 0.0 1.0

Lightbulb afg46sdfgsdfd
type: NamedIndividual
type: Lightbulb
pose: Pose afg46sdfgsdfd
main color of object: 1.0 0.9450980392156862 0.8784313725490196 0.6
light cone angle: 3.14159
light spot exponent: 1.2
light type: LightTypeSpot

Pose afg46sdfgsdfd
type: NamedIndividual
type: Pose
translation: 0.2 0.6 2.5
quaternion: 0.0 0.0 0.0 1.0

Lightbulb sdgt456sgdsdfyw
type: NamedIndividual
type: Lightbulb
pose: Pose sdgt456sgdsdfyw
main color of object: 1.0 0.9450980392156862 0.8784313725490196 0.6
light cone angle: 3.14159
light spot exponent: 1.2
light type: LightTypeSpot

Pose sdgt456sgdsdfyw
type: NamedIndividual
type: Pose
translation: 0.2 2.8 2.5
quaternion: 0.0 0.0 0.0 1.0

Lightbulb sdafg58hjco
type: NamedIndividual
type: Lightbulb
pose: Pose sdafg58hjco
main color of object: 1.0 0.9450980392156862 0.8784313725490196 0.6
light cone angle: 3.14159
light spot exponent: 1.2
light type: LightTypeSpot

Pose sdafg58hjco
type: NamedIndividual
type: Pose
translation: -2.5 -1.6 2.5
quaternion: 0.0 0.0 0.0 1.0

Lightbulb hfdfh46fadsb
type: NamedIndividual
type: Lightbulb
pose: Pose hfdfh46fadsb
main color of object: 1.0 0.9450980392156862 0.8784313725490196 0.6
light cone angle: 3.14159
light spot exponent: 1.2
light type: LightTypeSpot

Pose hfdfh46fadsb
type: NamedIndividual
type: Pose
translation: -2.5 0.6 2.5
quaternion: 0.0 0.0 0.0 1.0

Lightbulb safh98ewhgb
type: NamedIndividual
type: Lightbulb
pose: Pose safh98ewhgb
main color of object: 1.0 0.9450980392156862 0.8784313725490196 0.6
light cone angle: 3.14159
light spot exponent: 1.2
light type: LightTypeSpot

Pose safh98ewhgb
type: NamedIndividual
type: Pose
translation: -2.5 2.8 2.5
quaternion: 0.0 0.0 0.0 1.0

drawer island middle lower
type: NamedIndividual
type: Drawer
height of object: 0.29
depth of object: 0.5
width of object: 0.99
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer island middle lower handle
proper physical parts: drawer island middle lower handle
proper physical parts: drawer island middle lower slider

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_island_middle_lower
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.25
m13: 1.71
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: -1.1

drawer island middle lower slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer island middle lower handle
connected to-rigidly: drawer island middle lower
direction: VectorX

drawer island middle lower handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.90
main color of object: 0.2 0.2 0.2 1.0

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_island_middle_lower_handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.34
m13: 1.71
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: -0.82

drawer island right upper
type: NamedIndividual
type: Drawer
height of object: 0.29
depth of object: 0.5
width of object: 0.60
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer island right upper handle
proper physical parts: drawer island right upper handle
proper physical parts: drawer island right upper slider

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_island_right_upper
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.54
m13: 2.51
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: -1.1

drawer island right upper slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer island right upper handle
connected to-rigidly: drawer island right upper
direction: VectorX

drawer island right upper handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.50
main color of object: 0.2 0.2 0.2 1.0

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_island_right_upper_handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.63
m13: 2.51
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: -0.82

drawer island right lower
type: NamedIndividual
type: Drawer
height of object: 0.29
depth of object: 0.5
width of object: 0.60
described in map: SemanticEnvironmentMap PM580j
prismatically connected to: drawer island right lower handle
proper physical parts: drawer island right lower handle
proper physical parts: drawer island right lower slider

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_drawer_island_right_lower
type: NamedIndividual
type: RotationMatrix3D
m31: 0.0
m30: 0.0
m32: 0.0
m02: 0.0
m20: 0.0
m01: 0.0
m10: 0.0
m21: 0.0
m12: 0.0
m23: 0.25
m13: 2.51
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: -1.1

drawer island right lower slider
type: NamedIndividual
type: PrismaticJoint
height of object: 0.0
depth of object: 0.0
max joint value: 0.48
width of object: 0.0
min joint value: 0.0
connected to-rigidly: drawer island right lower handle
connected to-rigidly: drawer island right lower
direction: VectorX

drawer island right lower handle
type: NamedIndividual
type: Handle
height of object: 0.01
depth of object: 0.07
width of object: 0.50
main color of object: 0.2 0.2 0.2 1.0

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D_island_right_lower_handle
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.34
m13: 2.51
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: -0.82

kitchen wall north
type: NamedIndividual
type: Wall
height of object: 2.0
depth of object: 0.01
width of object: 4.96
described in map: SemanticEnvironmentMap PM580j

RotationMatrix3D kitchen wall north
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 1.0
m13: 0.65
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: 1.82

kitchen wall west
type: NamedIndividual
type: Wall
height of object: 2.0
depth of object: 0.01
width of object: 6.66
described in map: SemanticEnvironmentMap PM580j

RotationMatrix3D kitchen wall west
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: -1.0
m31: 0.0
m10: 1.0
m32: 0.0
m30: 0.0
m23: 1.0
m13: 3.17
m11: 0.0
m33: 1.0
m00: 0.0
m22: 1.0
m03: -1.50

kitchen wall south
type: NamedIndividual
type: Wall
height of object: 0.74
depth of object: 0.01
width of object: 4.05
described in map: SemanticEnvironmentMap PM580j

RotationMatrix3D kitchen wall south
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m30: 0.0
m23: 0.37
m13: 1.13
m11: 1.0
m33: 1.0
m00: 1.0
m22: 1.0
m03: -4.82

kitchen wall east 1
type: NamedIndividual
type: Wall
height of object: 2.0
depth of object: 0.01
width of object: 1.0
described in map: SemanticEnvironmentMap PM580j

RotationMatrix3D kitchen wall east 1
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: -1.0
m31: 0.0
m10: 1.0
m32: 0.0
m30: 0.0
m23: 1.0
m13: -1.82
m11: 0.0
m33: 1.0
m00: 0.0
m22: 1.0
m03: 1.30

kitchen wall east 2
type: NamedIndividual
type: Wall
height of object: 0.74
depth of object: 0.01
width of object: 4.81
described in map: SemanticEnvironmentMap PM580j

RotationMatrix3D kitchen wall east 2
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m20: 0.0
m21: 0.0
m02: 0.0
m01: -1.0
m31: 0.0
m10: 1.0
m32: 0.0
m30: 0.0
m23: 0.37
m13: -1.85
m11: 0.0
m33: 1.0
m00: 0.0
m22: 1.0
m03: -2.4

kitchen island
type: NamedIndividual
type: Cupboard
depth of object: 0.8
height of object: 0.85
width of object: 2.45
described in map: SemanticEnvironmentMap PM580j
proper physical parts: drawer island left upper
proper physical parts: drawer island left lower
proper physical parts: drawer island middle upper
proper physical parts: drawer island middle lower
proper physical parts: drawer island right upper
proper physical parts: drawer island right lower

pancake table
type: NamedIndividual
type: Cupboard
depth of object: 0.8
height of object: 0.72
width of object: 1.6
described in map: SemanticEnvironmentMap PM580j

RotationMatrix3D pancake table
type: NamedIndividual
type: RotationMatrix3D
m00: -1.0
m11: -1.0
m03: -1.05289
m01: 0.0
m32: 0.0
m10: 0.0
m21: 0.0
m30: 0.0
m12: 0.0
m20: 0.0
m02: 0.0
m31: 0.0
m23: 0.36
m33: 1.0
m22: 1.0
m13: -0.45

kitchen island counter top
type: NamedIndividual
type: CounterTop
depth of object: 0.8
height of object: 0.05
width of object: 2.45
described in map: SemanticEnvironmentMap PM580j
main color of object: 0.8 0.8 0.8 1.0

kitchen sink block
type: NamedIndividual
type: Cupboard
depth of object: 0.58
height of object: 0.85
width of object: 2.06
described in map: SemanticEnvironmentMap PM580j
proper physical parts: drawer sinkblock upper
proper physical parts: drawer sinkblock middle
proper physical parts: drawer sinkblock lower
proper physical parts: drawer sinkblock dishwasher
proper physical parts: drawer sinkblock trash

kitchen sink block counter top
type: NamedIndividual
type: CounterTop
depth of object: 0.58
height of object: 0.05
width of object: 2.06
described in map: SemanticEnvironmentMap PM580j
main color of object: 0.8 0.8 0.8 1.0

RotationMatrix3D1kitchen oven block
type: NamedIndividual
type: RotationMatrix3D
m02: 0.0
m12: 0.0
m20: 0.0
m01: 0.0
m21: 0.0
m30: 0.0
m31: 0.0
m10: 0.0
m32: 0.0
m23: 0.755
m22: 1.0
m33: 1.0
m00: 1.0
m11: 1.0
m03: 1.51594
m13: 1.9012

RotationMatrix3D11kitchen sink block
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m02: 0.0
m01: 0.0
m21: 0.0
m32: 0.0
m10: 0.0
m20: 0.0
m31: 0.0
m30: 0.0
m13: 0.30313
m23: 0.425
m22: 1.0
m33: 1.0
m11: 1.0
m00: 1.0
m03: 1.51594

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D11kitchen_sink_block_counter_top
type: NamedIndividual
type: RotationMatrix3D
m12: 0.0
m02: 0.0
m01: 0.0
m21: 0.0
m32: 0.0
m10: 0.0
m20: 0.0
m31: 0.0
m30: 0.0
m13: 0.30313
m23: 0.85
m22: 1.0
m33: 1.0
m11: 1.0
m00: 1.0
m03: 1.51594

RotationMatrix3D3kitchen fridge block
type: NamedIndividual
type: RotationMatrix3D
m13: -1.056866
m20: 0.0
m31: 0.0
m30: 0.0
m21: 0.0
m32: 0.0
m02: 0.0
m01: 0.0
m10: 0.0
m12: 0.0
m23: 0.755
m11: 1.0
m00: 1.0
m22: 1.0
m33: 1.0
m03: 1.53787

RotationMatrix3D9kitchen island
type: NamedIndividual
type: RotationMatrix3D
m00: -1.0
m11: -1.0
m03: -1.05289
m01: 0.0
m32: 0.0
m10: 0.0
m21: 0.0
m30: 0.0
m12: 0.0
m20: 0.0
m02: 0.0
m31: 0.0
m23: 0.425
m33: 1.0
m22: 1.0
m13: 1.656244

http://knowrob.org/kb/knowrob.owl#RotationMatrix3D9kitchen_island_counter_top
type: NamedIndividual
type: RotationMatrix3D
m00: -1.0
m11: -1.0
m03: -1.05289
m01: 0.0
m32: 0.0
m10: 0.0
m21: 0.0
m30: 0.0
m12: 0.0
m20: 0.0
m02: 0.0
m31: 0.0
m23: 0.85
m33: 1.0
m22: 1.0
m13: 1.656244