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Today's robots are still lacking comprehensive knowledge bases about objects and their properties. Yet, a lot of knowledge is required when performing manipulation tasks to identify abstract concepts like a "handle" or the "blade of a spatula" and to ground them into concrete coordinate frames that can be used to parametrize the robot's actions. In this paper, we present a system that enables robots to use CAD models of objects as a knowledge source and to perform logical inference about objectdoi:10.1109/iros.2013.6697218 dblp:conf/iros/TenorthPBB13 fatcat:ia4enpcb5rhpjaswoudnqew6la