tmp.owl
type: Ontology
comment: Copyright © 2017 by IOC-UPC. The ontology model represents ontological knowledge for task and motion planning in order to provide better information for a mobile manipulation concerning type of objects, manipulatable regions, as well as splanning components.

goal-region1
type: NamedIndividual
type: GoalRegion
radius: 1.0

goal-region2
type: NamedIndividual
type: GoalRegion
radius: 1.0

initial-region1
type: NamedIndividual
type: InitialRegion
radius: 1.0

initial-region2
type: NamedIndividual
type: InitialRegion
radius: 1.0

mA
type: NamedIndividual
type: ManipulatableRegion
set rgn: y

mB
type: NamedIndividual
type: ManipulatableRegion
set rgn: -x

mC
type: NamedIndividual
type: ManipulatableRegion
set rgn: y

mD
type: NamedIndividual
type: ManipulatableRegion
set rgn: -x

mE
type: NamedIndividual
type: ManipulatableRegion
set rgn: x

mF
type: NamedIndividual
type: ManipulatableRegion
set rgn: -y

mG
type: NamedIndividual
type: ManipulatableRegion
set rgn: y

mH
type: NamedIndividual
type: ManipulatableRegion
set rgn: x

mI
type: NamedIndividual
type: ManipulatableRegion
set rgn: y

mJ
type: NamedIndividual
type: ManipulatableRegion
set rgn: x

mK
type: NamedIndividual
type: ManipulatableRegion
set rgn: -y

mL
type: NamedIndividual
type: ManipulatableRegion
set rgn: x

mM
type: NamedIndividual
type: ManipulatableRegion
set rgn: -x

objA
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mA
has-se map: semanticMapPerception1
friction: 0.5
mass: 1.0

objB
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mB
has-se map: semanticMapPerception2
friction: 0.5
mass: 1.2

objC
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mC
has-se map: semanticMapPerception3
friction: 0.5
mass: 1.3

objD
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mD
has-se map: semanticMapPerception4
friction: 0.5
mass: 1.4

objE
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mE
has-se map: semanticMapPerception5
friction: 0.7
mass: 2.0

objF
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mF
has-se map: semanticMapPerception6
friction: 0.7
mass: 2.1

objG
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mG
has-se map: semanticMapPerception7
mass: 0.7
mass: 2.3

objH
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mH
has-se map: semanticMapPerception8
friction: 0.7
mass: 2.5

objI
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mI
has-se map: semanticMapPerception9
friction: 0.7
mass: 2.6

objJ
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mJ
has-se map: semanticMapPerception10
friction: 0.7
mass: 2.8

objK
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mK
has-se map: semanticMapPerception11
friction: 0.9
mass: 7.3

objL
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mL
has-se map: semanticMapPerception12
friction: 0.9
mass: 8.0

objM
type: NamedIndividual
type: ManipulatableObject
has-m rgn: mL
has-se map: semanticMapPerception13
friction: 1.5
mass: 14.5