Scene File Schema¶
Scenes¶
A scene is a JSON object (called a scene config) that, when passed to the MCS Unity application via the machine_common_sense python library, describes the objects, materials (colors and textures), environmental features, and scripted actions that are present in a specific instance of the MCS 3D simulation environment.
Scene Config¶
Example:
{
"name": "Example MCS Scene Configuration",
"verison": 2,
"ceilingMaterial": "AI2-THOR/Materials/Walls/Drywall",
"floorMaterial": "AI2-THOR/Materials/Fabrics/CarpetWhite 3",
"wallMaterial": "AI2-THOR/Materials/Walls/DrywallBeige",
"roomDimensions": {
"x": 10,
"y": 3,
"z": 10
},
"roomMaterials": {
"left":"AI2-THOR/Materials/Walls/DrywallGreen",
"front":"AI2-THOR/Materials/Walls/Drywall4Tiled",
"right": "AI2-THOR/Materials/Walls/Drywall4Tiled",
"back": "AI2-THOR/Materials/Walls/Drywall4Tiled"
},
"performerStart": {
"position": {
"x": -1,
"z": -1
},
"rotation": {
"x": 0,
"y": 90
}
},
"objects": [{
"id": "sofa",
"type": "sofa_1",
"mass": 50,
"shows": [{
"stepBegin": 0,
"position": {
"x": -2,
"y": 0,
"z": -4.25
}
}]
}, {
"id": "ball_a",
"type": "sphere",
"mass": 0.05,
"materials": ["AI2-THOR/Materials/Plastics/BlueRubber"],
"pickupable": true,
"salientMaterials": ["plastic"],
"shows": [{
"stepBegin": 0,
"position": {
"x": 0,
"y": 0.025,
"z": 1
},
"scale": {
"x": 0.025,
"y": 0.025,
"z": 0.025
}
}]
}]
}
Each scene config has the following properties:
ceilingMaterial (string, optional): The material (color/texture) for the room’s ceiling. See the material list for options. Default (v0.0.3+): “AI2-THOR/Materials/Walls/Drywall”
floorMaterial (string, optional): The material (color/texture) for the room’s floor. See the material list for options. Default (v0.0.3+): “AI2-THOR/Materials/Fabrics/CarpetWhite 3”
floorProperties (physics config, optional): Enable custom friction, bounciness, and/or drag on the floor. Default: see physics config.
floorTextures (material position config list, optional): A list of materials to apply to specific areas of the room’s floor. These materials override the material set by floorMaterial for those specific areas. Default: none
goal (goal config, optional): The goal for the scene. Default: none
holes (grid config list, optional): The list of X/Z coordinates corresponding to one or more holes in the room’s floor. Coordinates must be integers. Holes are always size 1x1 centered on the given X/Z coordinate. Adjacent holes are combined. Y coordinates are ignored. Holes are too deep to escape. Default: none
intuitivePhysics (bool, optional): Specific performer and room setup for intuitive physics scenes.
isometric (bool, optional): Specific performer and room setup for agent scenes.
lava (grid config list, optional): The list of X/Z coordinates corresponding to one or more pools of lava in the room’s floor. Coordinates must be integers. Each lava pool is always size 1x1 centered on the given X/Z coordinate. Adjacent pools of lava are combined. Y coordinates are ignored. Stepping in lava will either cause a reward penalty or immediately end the scene, depending on your settings. Default: none
name (string, required): A unique name for the scene used for our logs. Default: the filename
objects (object config array, optional): The objects for the scene. Default: []
performerStart (transform config, optional): The starting position and rotation of the performer (the “player”). Only the position.x, position.z, rotation.x (head tilt), and rotation.y properties are used. Default: { “position”: { “x”: 0, “z”: 0 }, “rotation”: { “y”: 0 } }
restrictOpenDoors (bool, optional): If there are multiple doors in a scene, only allow one door to ever be opened. Default: false
restrictOpenObjects (bool, optional): If there are multiple openable objects in a scene, including containers and doors, only allow one of them to ever be opened. Default: false
roomDimensions (Vector3, optional): Specify the size of the room, not including the thickness of walls, floor, and ceiling. If omitted or set to 0, 0, 0, the default will be used. Note: There is a maximum visibility which for objects and structures beyond will not be rendered. Use caution when creating rooms where the maximum distance exceeds this maximum visibility. The maximum visibility is 15 meters. Default: 10, 3, 10.
roomMaterials (room material config, optional): The materials for each individual wall. For any individual wall not provided, or all outer walls if object is not provided, they will use ‘wallMaterial’ property.
partitionFloor (floor partition config, optional): Settings to partition the floor in specific ways. Overrides the floorTextures, holes, and lava configurations. Default: none
version (int, optional): The version of this scene configuration. Default: the latest version
wallProperties (physics config, optional): Enable custom friction, bounciness, and/or drag on the walls. Default: see physics config.
wallMaterial (string, optional): The material (color/texture) for the room’s four outer walls. See the material list for options. Default (v0.0.3+): “AI2-THOR/Materials/Walls/DrywallBeige”
toggleLights (step begin and end config config array, optional): The steps at which the lights in the scene should be turned off and back on. Default: []
Object Config¶
Each object config has the following properties:
id (string, required): The object’s unique ID.
type (string, required): The object’s type from the object list.
actions (action config list, optional): Specific animations to start at specific action steps. Available animations are based on the object’s type. Currently animations are only available for agent types. Default: none
agentMovement (agent movement config, optional): The movement sequence for an individual agent. Default: none
agentSettings (agent settings config, optional): Specific configuration settings for agent types. Default: none
associatedWithAgent` (string, optional): The agent holding this object. Objects with this property have the following restrictions — Must have a shape of ball, a bounding box scaled between 0.2 and 0.25, and a scale of (1,1,1). Default: “”
centerOfMass (vector config, optional): The object’s center of mass/gravity, if not the default. Default: none
centerOfMass (vector config, optional): The object’s center of mass/gravity, if not the default. Default: none
changeMaterials (change_materials config array, optional): The steps on which to change the material(s) (colors/textures) used on the object, and the new materials to use. See the material list for options. Default: []
forces (force config array, optional): The steps on which to apply force to the object. The config vector describes the amount of force (in Newtons) to apply in each direction using the global coordinate system. Resets all existing forces on the object to 0 before applying the new force. Default: []
ghosts (step begin and end config config array, optional): TBD
hides (single step config array, optional): The steps on which to hide the object, completely removing its existence from the scene until it is shown again (see the shows property). Useful if you want to have impossible events (spontaneous disappearance). Default: []
lidAttachment lid config, optional): If set this object will attach to the lidAttachmentObjId at the stepBegin. Default: none
kinematic (boolean, optional): If true, the object will ignore all forces including gravity. See Unity’s isKinematic property. Usually paired with structure. Default: false
locationParent (string, optional): The id of another object in the scene. If given, this object’s shows.position and shows.rotation will both start from the position and rotation of the locationParent object rather than from 0. Default: none
mass (float, optional): The mass of the object, which affects the physics simulation. Default: 1
materials (string array, optional): The material(s) (colors/textures) of the object. An object type may use multiple individual materials; if so, they must be listed in a specific order. Most non-primitive objects already have specific material(s). See the material list for options. Default: none
materialFile (string, optional): Deprecated (please use materials now). The material (color/texture) of the object. Most non-primitive objects already have specific material(s). See the material list for options. Default: none
maxAngularVelocity (force, optional): Override the object’s maximum angular velocity in the physics simulation, affecting how it turns and rolls. Default: 7
moveable (boolean, optional): Whether the object should be moveable, if it is not already moveable based on its type. Default: depends on type
moves (move config array, optional): The steps on which to move the object, moving it from one position in the scene to another. The config vector describes the amount of position to change, added to the object’s current position. Useful if you want to move objects that are kinematic. A fifth of each move is made over each of the five substeps (five screenshots) during the step. Default: []
nullParent (transform config, optional): Whether to wrap the object in a null parent object. Useful if you want to rotate an object by a point other than its center point. Default: none
openable (boolean, optional): Whether the object should be openable, if it is not already openable based on its type. Default: depends on type
opened (boolean, optional): Whether the object should begin opened. Must also be openable. Default: false
openClose (open close config, optional): The steps where an object is opened or closed by the system. Default: None
lips (platform lips config, optional): The sides of a platform to add lips. Default: None
locked (boolean, optional): Whether to lock the container at the start of the simulation. Locked containers cannot be opened. Default: false
physics (boolean, optional): Whether to enable physics simulation on the object. Automatically true if moveable, openable, pickupable, or receptacle is true. Use physics if you want to enable physics but don’t want to use any of those other properties. Default: false
physicsProperties (physics config, optional): Enable custom friction, bounciness, and/or drag on the object. Default: see physics config.
pickupable (boolean, optional): Whether the object should be pickupable, if it is not already openable based on its type. Pickupable objects are also automatically moveable. Default: depends on type
receptacle (boolean, optional): TBD
resetCenterOfMass (boolean, optional): Whether to reset the object’s center of mass/gravity to its default value once the object’s Y velocity becomes more than 0.1. Default: false
resizes (size config array, optional): The steps on which to resize the object. The config size is multiplied by the object’s current size. Useful if you want to have impossible events (spontaneous resizing). Default: []
rotates (move config array, optional): The steps on which to rotate the object. The config vector describes the amount of rotation (in degrees) to change, added to the object’s current rotation. Useful if you want to rotate objects that are kinematic. A fifth of each move is made over each of the five substeps (five screenshots) during the step. Default: []
salientMaterials (string array, optional)
seesaw (bool, optional): Whether this object should move like a seesaw. Default: false
shows (show config array, optional): The steps on which to show the object, adding its existence to the scene. Each object begins hidden within the scene, so each object should have at least one element in its shows array to be useful. Default: []
shrouds (step begin and end config config array, optional): The steps on which to shroud the object, temporarily making it invisible, but moving with its existing intertia and able to collide with objects. Useful if you want to have impossible events. Default: []
states (string array array, optional): An array of string arrays containing the state label(s) of the object at each step in the scene, returned by the simulation environment in the object’s output metadata. Default: []
structure (boolean, optional): Whether the object is a structural part of the environment. Usually paired with kinematic. Default: false
teleports (teleport config array, optional): The steps on which to teleport the object, teleporting it from one position in the scene to another. The config position describes the object’s end position in global coordinates and is not affected by the object’s current position. Useful if you want to have impossible events (spontaneous teleportation). Default: []
togglePhysics (single step config array, optional): The steps on which to toggle physics on the object. Useful if you want to have scripted movement in specific parts of the scene. Can work with the kinematic property. Default: []
torques (force config array, optional): The steps on which to apply torque to the object. The config vector describes the amount of torque (in Newtons) to apply in each direction using the global coordinate system. Resets all existing torques on the object to 0 before applying the new torque. Default: []
Goal Config¶
Each goal config has the following properties:
action_list (string array array, optional): The list of actions that are available for the scene at each step (outer list index). Each inner list item is a list of action strings. For example, [‘MoveAhead’,’RotateLook,rotation=180’] restricts the actions to either ‘MoveAhead’ or ‘RotateLook’ with the ‘rotation’ parameter set to 180. An empty outer action_list means that all actions are always available. An empty inner list means that all actions are available for that specific step. Default: none
info_list (array, optional): A list of information for the visualization interface associated with this goal. Default: none
last_preview_phase_step (integer, optional): The last step of the preview phase of this scene, if any. Default: -1
last_step (integer, optional): The last step of this scene. This scene will automatically end following this step.
metadata (goal metadata config, optional): The metadata specific to this goal. Default: none
task_list (string array, optional): A list of types for the visualization interface associated with this goal, including the relevant MCS core domains. Default: none
type_list (string array, optional) A list of tasks for the visualization interface associated with this goal (secondary to its types).
Goal Metadata Config¶
Each goal metadata config has the following properties:
(Coming soon!)
Action Config¶
Each action config has the following properties:
stepBegin (integer, required): The step on which the action should occur. Must be non-negative. A value of 0 means the action will occur during scene initialization. If the step begin occurs while the agent is interacting and there is no step end or the step end is after the agent interaction is complete, the animation will play after the interaction is complete. If the agent is moving, triggering an action will pause the agents movement until the action is complete either by finishing the animation or by reaching its step end. If it is a loop animation with no step end the agent will no longer move and endlessly perform its action. The exception to this is if the step begin of the movement configuration is after the step begin of the action. In that case the movement will begin and halt the action.
stepEnd (integer, optional): The step on which the action should end. Must be non-negative. The animation will play infinitely if its isLoopAnimation is true. If stepEnd is not configured and isLoopAnimation is false then the animation will play once. For example, a jump animation with stepBegin of 2 and stepEnd of 4 will stop immediately at that stepEnd. However, you can set that jump to isLoopAnimation true and have its stepEnd be 104 so it will loop and stop at step 104. Triggering a step end while interacting with the agent will end the animation once the interaction is complete.
id (string, required): The ID of the animation (action) to start. For a full list of available agent animations, please see Agent Animations.
isLoopAnimation (bool, optional): Whether the newly set animation should loop after being played. If false, the agent animation will reset to idle after being played once. Default: false
Sequence Config¶
Each sequence config has the following properties:
animation (string, required): The animation to play while the agent moves to the next end point
endPoint (vector config, required): The end point of this part of the movement path
Agent Movement Config¶
Each agent movement config has the following properties:
stepBegin (integer, required): The step on which the action should occur. Must be non-negative. A value of 0 means the action will occur during scene initialization. If the step begin of the movement configuration is after the step begin of a currently playing action the movement will begin and immediately stop the action. If a step begin is triggered while the agent is interacting, the agent will begin its movement after the interaction is complete. If a step begin is triggered while the agent is interacting, but an action’s step begin was also triggered during the interaction at a later step, the action will play first then agent will begin its movement.
repeat (bool, required): Whether the movement sequence should repeat after reaching the end. If true, once the last point is reached, the agent will move from its last end point to the first end point automatically. This means the last configured end point in the sequence does NOT need to be equal to the first end point for repeating to work. Once the first point is automatically reached, the agent will continue the sequence from the beginning.
sequence (vector config array, required): The sequence that the agent will follow. Only x and z coordinates are necessary. If a y is given it will be ignored.
Agent Settings Config¶
Each agent settings config has the following properties:
chest (integer, optional): The chest and shirt (or dress) to use for the specific agent. See Chest Options for the full list of available options. Default: 0
chestMaterial (integer, optional): The color/texture to use for the shirt of the specific agent. See Chest Material Options for the full list of available options. Default: 0
eyes (integer, optional): The eyes to use for the specific agent. See Eye Options for the full list of available options. Default: 0
feet (integer, optional): The feet and shoes to use for the specific agent. See Feet Options for the full list of available options. Default: 0
feetMaterial (integer, optional): The color/texture to use for the shoes of the specific agent. See Feet Material Options for the full list of available options. Default: 0
glasses (integer, optional): The glasses to use for the specific agent. The glasses are only visible if showGlasses is true. See Glasses Options for the full list of available options. Default: 0
hair (integer, optional): The hair (and possibly hat, for some options) to use for the specific agent. See Hair Options for the full list of available options. Default: 0
hairMaterial (integer, optional): The color/texture to use for the hair of the specific agent. See Hair Material Options for the full list of available options. Default: 0
hatMaterial (integer, optional): The color/texture to use for the hat (if one is present) of the specific agent. See Hair Material Options for the full list of available options. Default: 0
hideHair (boolean, optional): Whether to hide hair on the specific agent. This ignores any configured hair option. Default: false
isElder (boolean, optional): Whether to give the specific agent an elderly (wrinkly) face and skin. Default: false
legs (integer, optional): The legs and pants/shorts/skirt to use for the specific agent. Please note that the legs may be overridden by some chest options. See Legs Options for the full list of available options. Default: 0
legsMaterial (integer, optional): The color/texture to use for the pants/shorts/skirt of the specific agent. See Legs Material Options for the full list of available options. Default: 0
showBeard (boolean, optional): Whether to show a beard on the specific agent. The agent type must be male. The beard’s color will match the hairMaterial. Default: false
showGlasses (boolean, optional): Whether to show glasses on the specific agent. Default: false
showTie (boolean, optional): Whether to show a tie on the specific agent. The chest option must also be compatible with a tie. Default: false
skin (integer, optional): The skin to use for the specific agent. See Skin Options for the full list of available options. Default: 0
tie (integer, optional): The tie to use for the specific agent. A tie is only visible if showTie is true, and if the chest option is compatible with a tie. See Tie Options for the full list of available options. Default: 0
tieMaterial (integer, optional): The color/texture to use for the tie (if one is present) of the specific agent. See Tie Material Options for the full list of available options. Default: 0
Change Materials Config¶
Each change materials config has the following properties:
stepBegin (integer, required): The step on which the action should occur. Must be non-negative. A value of 0 means the action will occur during scene initialization.
materials (string array, required): The new materials for the object.
Floor Partition Config¶
Each floor partition config has the following properties:
leftHalf (float, optional): Percentage of the left half of the room to set as lava. Max value of 1. Default: 0
rightHalf (float, optional): Percentage of the right half of the room to set as lava. Max value of 1. Default: 0
Force Config¶
Each force config has the following properties:
stepBegin (integer, required): The step on which the action should begin. Must be non-negative. A value of 0 means the action will begin during scene initialization.
stepEnd (integer, required): The step on which the action should end. Must be equal to or greater than the stepBegin.
vector (vector config, required): The coordinates to describe the movement. Default: { “x”: 0, “y”: 0, “z”: 0 }
impulse (bool, optional): Whether to apply the force using Unity’s impulse force mode, rather than the default force mode. Default: false
relative (bool, optional): Whether to apply the force using the object’s relative coordinate system, rather than the environment’s absolute coordinate system. Default: false
repeat (bool, optional): Whether to indefinitely repeat this action. Will wait stepWait number of steps after stepEnd, then will execute this action for stepEnd - stepBegin + 1 number of steps, then repeat. Default: false
stepWait (integer, optional): If repeat is true, the number of steps to wait after the stepEnd before repeating this action. Default: 0
Grid Config¶
Each grid config has the following properties:
x (integer)
z (integer)
Lid Config¶
Each lid config has the following properties:
stepBegin (integer, required): The step the lid will attach to the object specified by the lidAttachmentObjId. Must be non-negative. A value of 0 means the action will occur during scene initialization.
lidAttachmentObjId (string, required): The id of the object that the lid will attach to.
Lip Gaps Config¶
Each lip gaps config has the following properties:
front (lip gaps span config list):: Gaps on the positive Z axis
back (lip gaps span config list):: Gaps on the negative Z axis
left (lip gaps span config list):: Gaps on the negative X axis
right (lip gaps span config list):: Gaps on the positive X axis
Lip Gaps Span Config¶
Each lip gaps span config has the following properties:
low (float): Indicates where one side of the gap is located on an edge of a platform. This
value is 0 to 1 where 0 is one end of the edge and 1 is the other edge. This value must be less than ‘high’. - high (float): Indicates where one side of the gap is located on an edge of a platform. This value is 0 to 1 where 0 is one end of the edge and 1 is the other edge. This value must be greater than ‘low’.
Material Position Config¶
Each material position config has the following properties:
material (string, required): The material to use.
positions (grid config list): The list of X/Z coordinates corresponding to one or more areas in which to apply the material. Coordinates must be integers. Areas are always size 1x1 centered on the given X/Z coordinate. Adjacent areas are combined. Y coordinates are ignored.
Move Config¶
Each move config has the following properties:
stepBegin (integer, required): The step on which the action should begin. Must be non-negative. A value of 0 means the action will begin during scene initialization.
stepEnd (integer, required): The step on which the action should end. Must be equal to or greater than the stepBegin.
vector (vector config, required): The coordinates to describe the movement. Default: { “x”: 0, “y”: 0, “z”: 0 }
repeat (bool, optional): Whether to indefinitely repeat this action. Will wait stepWait number of steps after stepEnd, then will execute this action for stepEnd - stepBegin + 1 number of steps, then repeat. Default: false
stepWait (integer, optional): If repeat is true, the number of steps to wait after the stepEnd before repeating this action. Default: 0
globalSpace (bool, optional): If true the object will move using a global orientaion space and ignore the object’s rotation. If false the object will move in local space oriented on the object’s rotation. Default: false
Platform Lips Config¶
Each platform lips config has the following properties:
front (bool, optional): Positive Z axis
back (bool, optional): Negative Z axis
left (bool, optional): Negative X axis
right (bool, optional): Positive X axis
gaps (lip gaps config, optional): gaps in the lits usually for ramps.
Physics Config¶
Each physics config has the following properties:
enable (bool, optional): Whether to enable customizing ALL physics properties on the object. You must either customize no properties or all of them. Any unset property in this config will automatically be set to 0, NOT its Unity default (see below). Default: false
angularDrag (float, optional): The object’s angular drag, between 0 and 1. Default: 0
bounciness (float, optional): The object’s bounciness, between 0 and 1. Default: 0
drag (float, optional): The object’s drag. Default: 0
dynamicFriction (float, optional): The object’s dynamic friction, between 0 and 1. Default: 0
staticFriction (float, optional): The object’s static friction, between 0 and 1. Default: 0
If no physics config is set, or if the physics config is not enabled, the object will have the following Unity defaults:
Angular Drag: 0.5
Bounciness: 0
Drag: 0
Dynamic Friction: 0.6
Static Friction: 0.6
Show Config¶
Each show config has the following properties:
stepBegin (integer, required): The step on which to show the object. Must be non-negative. A value of 0 means the object will be shown during scene initialization.
position (vector config, optional): The object’s position within the environment using the global coordinate system. Default: { “x”: 0, “y”: 0, “z”: 0 }
rotation (vector config, optional): The object’s rotation (in degrees) within the environment using the global coordinate system. Default: { “x”: 0, “y”: 0, “z”: 0 }
scale (vector config, optional): The object’s scale, which is multiplied by its base scale. Default: { “x”: 1, “y”: 1, “z”: 1 }
Size Config¶
Each size config has the following properties:
stepBegin (integer, required): The step on which the action should begin. Must be non-negative. A value of 0 means the action will begin during scene initialization.
stepEnd (integer, required): The step on which the action should end. Must be equal to or greater than the stepBegin.
size (vector config, required): The coordinates to describe the size, which is multiplied by the object’s current size. Default: { “x”: 1, “y”: 1, “z”: 1 }
repeat (bool, optional): Whether to indefinitely repeat this action. Will wait stepWait number of steps after stepEnd, then will execute this action for stepEnd - stepBegin + 1 number of steps, then repeat. Default: false
stepWait (integer, optional): If repeat is true, the number of steps to wait after the stepEnd before repeating this action. Default: 0
Single Step Config¶
Each single step config has the following properties:
stepBegin (integer, required): The step on which the action should occur. Must be non-negative. A value of 0 means the action will occur during scene initialization.
Step Begin and End Config¶
Each step begin and end config has the following properties:
stepBegin (integer, required): The step on which the action should occur. Must be non-negative. A value of 0 means the action will occur during scene initialization.
stepEnd (integer, required): The step on which the action should end. Must be equal to or greater than the stepBegin.
repeat (bool, optional): Whether to indefinitely repeat this action. Will wait stepWait number of steps after stepEnd, then will execute this action for stepEnd - stepBegin + 1 number of steps, then repeat. Default: false
stepWait (integer, optional): If repeat is true, the number of steps to wait after the stepEnd before repeating this action. Default: 0
Open Close Config¶
Each Open Close Config has the following properties: - step (integer, required): The step on which the action should occur. Must be non-negative. A value of 0 means the action will occur during scene initialization. - open (boolean, required): If true, the container will be opened, if false, the container will be closed
Teleport Config¶
Each teleport config has the following properties:
stepBegin (integer, required): The step on which the action should begin. Must be non-negative. A value of 0 means the action will begin during scene initialization.
position (vector config, required): The global coordinates to describe the end position. Default: { “x”: 0, “y”: 0, “z”: 0 }
Transform Config¶
Each transform config has the following properties:
position (vector config, optional): The object’s position within the environment using the global coordinate system. Default: { “x”: 0, “y”: 0, “z”: 0 }
rotation (vector config, optional): The object’s rotation (in degrees) within the environment using the global coordinate system. Default: { “x”: 0, “y”: 0, “z”: 0 }
scale (vector config, optional): The object’s scale, which is multiplied by its base scale. Default: { “x”: 1, “y”: 1, “z”: 1 }
Vector Config¶
Each vector config has the following properties:
x (float, optional)
y (float, optional)
z (float, optional)
Room Material Config¶
left (string, optional): The material (color/texture) for the room’s left outer wall. See the material list for options. If not provided, walls will use ‘wallMaterial’ property. Default: none
right (string, optional): The material (color/texture) for the room’s right outer wall. See the material list for options. If not provided, walls will use ‘wallMaterial’ property. Default: none
front (string, optional): The material (color/texture) for the room’s front outer wall. See the material list for options. If not provided, walls will use ‘wallMaterial’ property. Default: none
back (string, optional): The material (color/texture) for the room’s back outer wall. See the material list for options. If not provided, walls will use ‘wallMaterial’ property. Default: none
Object List¶
Attributes¶
Moveable: Can be pushed, pulled, and knocked over. Can be added to object types that are not moveable by default.
Pickupable: Can be picked up with the PickupObject action (all pickupable objects are also moveable). Can be added to object types that are not pickupable by default.
Receptacle: Can hold objects with the PutObject action.
Openable: Can be opened with the OpenObject action.
Interactable Objects¶
Some objects have attributes like receptacle or openable by default. Some objects have restrictions on categories of materials that can be used on them; only the listed categories are allowed. Each object’s base size is using a scale of (x=1, y=1, z=1). Most objects will be positioned on top of the floor with position.y = 0; objects marked with (*) instead bisect the floor and must be offset by half their height.
Small Objects¶
All of the following object types have the pickupable attribute by default.
Object Type |
Shape |
Default Mass |
Receptacle |
Openable |
Materials |
Base Size |
Facing |
Details |
|---|---|---|---|---|---|---|---|---|
“apple_1” |
apple |
0.25 |
none |
x=0.111,y=0.12,z=0.122 |
||||
“apple_2” |
apple |
0.25 |
none |
x=0.117,y=0.121,z=0.116 |
||||
“ball” |
ball |
1 |
x=1,y=1,z=1 |
|||||
“barrel_1” |
barrel |
5 |
X |
X |
x=0.86,y=0.8,z=0.86 |
Forward |
Cylindrical wooden barrel |
|
“barrel_2” |
barrel |
5 |
X |
X |
x=0.73,y=0.93,z=0.95 |
Forward |
Cylindrical wooden barrel |
|
“barrel_3” |
barrel |
5 |
X |
X |
x=0.73,y=0.93,z=0.73 |
Forward |
Cylindrical wooden barrel |
|
“barrel_4” |
barrel |
5 |
X |
X |
x=0.73,y=0.82,z=0.73 |
Forward |
Cylindrical wooden barrel |
|
“block_blank_blue_cube” |
blank block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blank_blue_cylinder” |
blank block cylinder |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blank_red_cube” |
blank block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blank_red_cylinder” |
blank block cylinder |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blank_wood_cube” |
blank block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blank_wood_cylinder” |
blank block cylinder |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blank_yellow_cube” |
blank block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blank_yellow_cylinder” |
blank block cylinder |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blue_letter_a” |
letter block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blue_letter_b” |
letter block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blue_letter_c” |
letter block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blue_letter_d” |
letter block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blue_letter_m” |
letter block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_blue_letter_s” |
letter block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_yellow_number_1” |
number block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_yellow_number_2” |
number block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_yellow_number_3” |
number block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_yellow_number_4” |
number block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_yellow_number_5” |
number block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“block_yellow_number_6” |
number block cube |
0.66 |
X |
x=0.1,y=0.1,z=0.1 |
||||
“bowl_3” |
bowl |
0.25 |
X |
x=0.175,y=0.116,z=0.171 |
||||
“bowl_4” |
bowl |
0.25 |
X |
x=0.209,y=0.059,z=0.206 |
||||
“bowl_6” |
bowl |
0.25 |
X |
x=0.198,y=0.109,z=0.201 |
||||
“bobcat” |
bobcat |
0.5 |
x=0.13,y=0.061,z=0.038 |
Right |
Toy bobcat construction vehicle |
|||
“bus_1” |
bus |
0.5 |
x=0.28,y=0.28,z=0.52 |
Forward |
Toy Bus |
|||
“car_1” |
car |
0.5 |
x=0.075,y=0.065,z=0.14 |
Forward |
Toy sedan |
|||
“car_2” |
car |
0.5 |
x=0.25,y=0.2,z=0.41 |
Forward |
Toy car |
|||
“car_3” |
car |
0.5 |
x=0.134,y=0.052,z=0.036 |
Right |
Toy car |
|||
“car_4” |
car |
0.5 |
x=0.13,y=0.052,z=0.036 |
Right |
Toy car |
|||
“car_5” |
car |
0.5 |
x=0.9,y=0.36,z=0.42 |
Right |
Toy car |
|||
“car_6” |
car |
0.5 |
x=1.06,y=0.58,z=0.54 |
Right |
Toy old-fashioned car |
|||
“cart_2” |
cart |
0.5 |
x=0.42,y=0.7,z=0.51 |
Forward |
||||
“case_1” |
case |
5 |
X |
X |
x=0.71,y=0.19,z=0.54 |
Forward |
Suitcase. Same as suitcase_1 |
|
“case_2” |
case |
5 |
X |
X |
x=0.78,y=0.16,z=0.58 |
Forward |
Suitcase |
|
“case_3” |
case |
5 |
X |
X |
x=0.81,y=0.21,z=0.78 |
Forward |
Suitcase |
|
“case_4” |
case |
5 |
X |
X |
x=1.68,y=1.12,z=1.98 |
Forward |
Suitcase |
|
“case_5” |
case |
5 |
X |
X |
x=1.18,y=0.94,z=1.94 |
Forward |
Suitcase |
|
“case_6” |
case |
5 |
X |
X |
x=0.195,y=0.042,z=0.144 |
Forward |
Suitcase |
|
“case_7” |
case |
5 |
X |
X |
x=0.195,y=0.036,z=0.134 |
Forward |
Suitcase |
|
“case_8” |
case |
5 |
X |
X |
x=0.52,y=0.6,z=0.54 |
Forward |
||
“case_9” |
case |
5 |
X |
X |
x=0.18,y=0.44,z=0.4 |
Forward |
||
“crate_1” |
crate |
5 |
X |
X |
x=0.8,y=0.8,z=0.98 |
Forward |
Cuboid wooden crate |
|
“crate_2” |
crate |
5 |
X |
X |
x=0.72,y=0.64,z=0.72 |
Forward |
Cuboid wooden crate |
|
“crate_3” |
crate |
5 |
X |
X |
x=0.8,y=0.98,z=0.8 |
Forward |
Cuboid wooden crate |
|
“crate_4” |
crate |
5 |
X |
X |
x=0.76,y=0.74,z=0.88 |
Forward |
Cuboid wooden crate |
|
“crate_5” |
crate |
5 |
X |
X |
x=0.82,y=1.44,z=0.82 |
Forward |
Cuboid wooden crate |
|
“crate_6” |
crate |
5 |
X |
X |
x=0.9,y=1.68,z=1.06 |
Forward |
Cuboid wooden crate |
|
“crayon_black” |
crayon |
0.125 |
none |
x=0.01,y=0.085,z=0.01 |
Forward |
|||
“crayon_blue” |
crayon |
0.125 |
none |
x=0.01,y=0.085,z=0.01 |
||||
“crayon_green” |
crayon |
0.125 |
none |
x=0.01,y=0.085,z=0.01 |
||||
“crayon_pink” |
crayon |
0.125 |
none |
x=0.01,y=0.085,z=0.01 |
||||
“crayon_red” |
crayon |
0.125 |
none |
x=0.01,y=0.085,z=0.01 |
||||
“crayon_yellow” |
crayon |
0.125 |
none |
x=0.01,y=0.085,z=0.01 |
||||
“cup_2” |
cup |
0.25 |
X |
x=0.105,y=0.135,z=0.104 |
||||
“cup_3” |
cup |
0.25 |
X |
x=0.123,y=0.149,z=0.126 |
||||
“cup_6” |
cup |
0.25 |
X |
x=0.106,y=0.098,z=0.106 |
||||
“dog_on_wheels” |
dog |
0.5 |
x=0.355,y=0.134,z=0.071 |
Forward |
Toy dog on wheels |
|||
“dog_on_wheels_2” |
dog |
0.5 |
x=0.5,y=1.12,z=1.44 |
Forward |
Toy dog on wheels |
|||
“duck_on_wheels” |
duck |
0.5 |
x=0.21,y=0.17,z=0.065 |
Right |
Toy duck on wheels |
|||
“duck_on_wheels_2” |
duck |
0.5 |
x=0.224,y=0.176,z=0.06 |
Right |
Toy duck on wheels |
|||
“firetruck” |
firetruck |
0.5 |
x=1.2,y=0.4,z=0.54 |
Right |
Toy firetruck |
|||
“jeep” |
jeep |
0.5 |
x=0.06,y=0.057,z=0.098 |
Forward |
Toy jeep |
|||
“military_case_1” |
case |
5 |
X |
X |
x=0.66,y=0.82,z=0.62 |
Forward |
||
“military_case_2” |
case |
5 |
X |
X |
x=0.8,y=0.44,z=0.7 |
Forward |
||
“military_case_3” |
case |
5 |
X |
X |
x=1.26,y=0.54,z=0.76 |
Forward |
||
“military_case_4” |
case |
5 |
X |
X |
x=0.86,y=0.32,z=0.68 |
Forward |
||
“military_case_5” |
case |
5 |
X |
X |
x=1.3,y=1.1,z=1.04 |
Forward |
||
“military_case_6” |
case |
5 |
X |
X |
x=0.7,y=0.76,z=0.72 |
Forward |
||
“military_truck” |
truck |
0.5 |
x=1.36,y=0.6,z=0.58 |
Forward |
Toy military truck |
|||
“pacifier” |
pacifier |
0.5 |
none |
x=0.07,y=0.04,z=0.05 |
||||
“plate_1” |
plate |
0.25 |
X |
x=0.208,y=0.117,z=0.222 |
||||
“plate_3” |
plate |
0.25 |
X |
x=0.304,y=0.208,z=0.305 |
||||
“plate_4” |
plate |
0.25 |
X |
x=0.202,y=0.113,z=0.206 |
||||
“power_shovel” |
power_shovel |
0.5 |
x=0.18,y=0.08,z=0.042 |
Right |
Toy power shovel construction vehicle |
|||
“racecar_red” |
car |
0.5 |
x=0.07,y=0.06,z=0.15 |
Forward |
Toy racecar |
|||
“racecar_2” |
car |
0.5 |
x=1.3,y=0.5,z=0.58 |
Forward |
Toy racecar |
|||
“racecar_3” |
car |
0.5 |
x=1.0,y=0.52,z=0.5 |
Forward |
Toy racecar |
|||
“road_scraper” |
road_scraper |
0.5 |
x=0.136,y=0.066,z=0.038 |
Right |
Toy road scraper construction vehicle |
|||
“roller” |
roller |
0.5 |
x=0.102,y=0.062,z=0.047 |
Right |
Toy roller construction vehicle |
|||
“skateboard” |
skateboard |
1 |
none |
x=0.24,y=0.17,z=0.76 |
Forward |
|||
“soccer_ball” |
ball |
0.5 |
none |
x=0.22,y=0.22,z=0.22 |
(*) |
|||
“suitcase_1” |
case |
5 |
X |
X |
x=0.71,y=0.19,z=0.42 |
Forward |
Same as case_1 |
|
“tank_1” |
tank |
0.5 |
x=0.09,y=0.065,z=0.24 |
Forward |
Toy tank |
|||
“tank_2” |
tank |
0.5 |
x=0.065,y=0.067,z=0.17 |
Forward |
Toy tank |
|||
“tank_3” |
tank |
0.5 |
x=0.21,y=0.12,z=0.094 |
Right |
Toy tank |
|||
“taxi” |
taxi |
0.5 |
x=1.2,y=0.8,z=0.5 |
Right |
Toy three-wheeled taxi |
|||
“toddler_ride_on_car” |
car |
0.5 |
x=1.14,y=1.24,z=0.66 |
Right |
Toy toddler ride-on car |
|||
“toolbox_1” |
toolbox |
5 |
X |
X |
x=0.51,y=0.29,z=0.48 |
Forward |
Toolbox |
|
“toolbox_2” |
toolbox |
5 |
X |
X |
x=0.58,y=0.33,z=0.44 |
Forward |
Toolbox |
|
“toolbox_3” |
toolbox |
5 |
X |
X |
x=0.15,y=0.1,z=0.136 |
Forward |
Toolbox |
|
“toolbox_4” |
toolbox |
5 |
X |
X |
x=0.13,y=0.036,z=0.116 |
Forward |
Toolbox |
|
“toolbox_5” |
toolbox |
5 |
X |
X |
x=0.25,y=0.1,z=0.14 |
Forward |
Toolbox |
|
“toolbox_6” |
toolbox |
5 |
X |
X |
x=0.22,y=0.108,z=0.192 |
Forward |
Toolbox |
|
“toolbox_7” |
toolbox |
5 |
X |
X |
x=0.21,y=0.14,z=0.154 |
Forward |
Toolbox |
|
“toolbox_8” |
toolbox |
5 |
X |
X |
x=0.134,y=0.14,z=0.12 |
Forward |
Toolbox |
|
“train_1” |
train |
0.5 |
x=0.16,y=0.2,z=0.23 |
Forward |
Toy train |
|||
“train_2” |
train |
0.5 |
x=0.09,y=0.064,z=0.036 |
Right |
Toy train |
|||
“train_3” |
train |
0.5 |
x=0.4,y=0.26,z=0.22 |
Right |
Toy train |
|||
“train_4” |
train |
0.5 |
x=1.54,y=0.94,z=0.86 |
Right |
Toy train |
|||
“train_5” |
train |
0.5 |
x=1.2,y=1.04,z=0.7 |
Right |
Toy train |
|||
“train_6” |
train |
0.5 |
x=1.8,y=1.16,z=0.74 |
Right |
Toy train |
|||
“trike” |
trike |
0.5 |
x=0.04,y=0.074,z=0.112 |
Forward |
Toy trike |
|||
“trolley_1” |
trolley |
0.5 |
x=0.16,y=0.2,z=0.23 |
Forward |
Toy trolley |
|||
“trophy” |
trophy |
0.5 |
none |
x=0.19,y=0.3,z=0.14 |
||||
“truck_1” |
truck |
0.5 |
x=0.2,y=0.18,z=0.25 |
Forward |
Toy truck |
|||
“truck_2” |
truck |
0.5 |
x=0.14,y=0.2,z=0.28 |
Forward |
Toy truck |
|||
“truck_3” |
truck |
0.5 |
x=0.33,y=0.345,z=0.61 |
Forward |
Toy truck |
|||
“truck_4” |
truck |
0.5 |
x=0.25,y=0.26,z=0.4 |
Forward |
Toy truck |
|||
“truck_5” |
truck |
0.5 |
x=0.19,y=0.072,z=0.04 |
Right |
Toy truck |
|||
“turtle_on_wheels” |
turtle |
0.5 |
x=0.24,y=0.14,z=0.085 |
Right |
Toy turtle on wheels |
Furniture Objects¶
Object Type |
Shape |
Default Mass |
Moveable |
Receptacle |
Openable |
Materials |
Base Size |
Details |
|---|---|---|---|---|---|---|---|---|
“antique_armchair_1” |
sofa chair |
5 |
X |
X |
x=0.35,y=0.45,z=0.33 |
|||
“antique_chair_1” |
chair |
10 |
X |
X |
x=0.76,y=1.26,z=0.64 |
|||
“antique_sofa_1” |
sofa |
20 |
X |
X |
x=2,y=1.4,z=0.68 |
|||
“antique_table_1” |
table |
5 |
X |
X |
x=0.77,y=0.48,z=0.77 |
|||
“bed_1” |
bed |
50 |
X |
x=1.3,y=1.02,z=2.11 |
||||
“bed_2” |
bed |
50 |
X |
x=1.54,y=1.1,z=2.43 |
||||
“bed_3” |
bed |
50 |
X |
x=1.48,y=0.73,z=2.11 |
||||
“bed_4” |
bed |
50 |
X |
x=1.95,y=1.75,z=2.28 |
Bunk bed |
|||
“bed_5” |
bed |
50 |
X |
x=1.26,y=1.04,z=2.37 |
||||
“bed_6” |
bed |
50 |
x=1.15,y=2.2,z=2.53 |
Elevated bed |
||||
“bed_7” |
bed |
50 |
X |
x=1.08,y=1.23,z=2.02 |
||||
“bed_8” |
bed |
50 |
X |
x=0.88,y=0.7,z=1.7 |
||||
“bed_9” |
bed |
50 |
X |
x=1,y=1,z=2 |
||||
“bed_10” |
bed |
50 |
X |
x=1.25,y=0.94,z=2.17 |
||||
“bed_11” |
bed |
50 |
X |
x=2,y=1.45,z=3.2 |
||||
“bed_12” |
bed |
50 |
X |
x=2,y=2.2,z=3.2 |
||||
“bed_13” |
bed |
50 |
X |
x=2,y=2.2,z=3.5 |
||||
“bed_14” |
bed |
50 |
X |
x=2,y=2.2,z=3.5 |
||||
“bed_15” |
bed |
50 |
X |
x=1.4,y=3,z=2.4 |
Bunk bed |
|||
“bed_16” |
bed |
50 |
X |
x=1.4,y=3,z=2.4 |
Elevated bed with desk underneath |
|||
“bookcase_1_shelf” |
bookcase |
10 |
X |
x=1,y=1,z=0.5 |
||||
“bookcase_2_shelf” |
bookcase |
15 |
X |
x=1,y=1.5,z=0.5 |
||||
“bookcase_3_shelf” |
bookcase |
20 |
X |
x=1,y=2,z=0.5 |
||||
“bookcase_4_shelf” |
bookcase |
25 |
X |
x=1,y=2.5,z=0.5 |
||||
“bookcase_1_shelf_sideless” |
bookcase |
10 |
X |
x=1,y=1,z=0.5 |
||||
“bookcase_2_shelf_sideless” |
bookcase |
15 |
X |
x=1,y=1.5,z=0.5 |
||||
“bookcase_3_shelf_sideless” |
bookcase |
20 |
X |
x=1,y=2,z=0.5 |
||||
“bookcase_4_shelf_sideless” |
bookcase |
25 |
X |
x=1,y=2.5,z=0.5 |
||||
“bookcase_duplex_2_4” |
bookcase |
30 |
X |
x=2,y=2,z=0.5 |
2 shelves on left, 4 shelves on right |
|||
“bookcase_duplex_4_2” |
bookcase |
30 |
X |
x=2,y=2,z=0.5 |
4 shelves on left, 2 shelves on right |
|||
“cart_1” |
cart |
4 |
X |
X |
x=0.725,y=1.29,z=0.55 |
|||
“chair_1” |
chair |
5 |
X |
X |
x=0.54,y=1.04,z=0.46 |
|||
“chair_2” |
stool |
2.5 |
X |
X |
x=0.3,y=0.75,z=0.3 |
|||
“chair_3” |
stool |
5 |
X |
X |
x=0.42,y=0.8,z=0.63 |
|||
“chair_4” |
chair |
5 |
X |
X |
x=0.54,y=0.88,z=0.44 |
|||
“chair_5” |
chair |
5 |
X |
X |
x=0.49,y=0.86,z=0.58 |
|||
“chair_6” |
chair |
5 |
X |
X |
x=0.51,y=0.98,z=0.54 |
|||
“chair_7” |
chair |
5 |
X |
X |
x=0.42,y=0.8,z=0.63 |
|||
“chair_8” |
chair |
5 |
X |
X |
x=0.55,y=0.78,z=0.54 |
|||
“chair_9” |
chair |
5 |
X |
X |
x=0.49,y=0.95,z=0.52 |
|||
“chair_10” |
chair |
5 |
X |
X |
x=0.48,y=0.91,z=0.54 |
|||
“chair_11” |
chair |
5 |
X |
X |
x=0.72,y=1.38,z=0.78 |
|||
“chair_12” |
chair |
5 |
X |
X |
x=0.6,y=0.84,z=0.76 |
|||
“chair_13” |
chair |
5 |
X |
X |
x=0.42,y=0.74,z=0.4 |
|||
“chair_14” |
chair |
5 |
X |
X |
x=0.5,y=0.8,z=0.5 |
|||
“chair_15” |
chair |
5 |
X |
X |
x=0.42,y=0.94,z=0.4 |
|||
“chair_16” |
chair |
5 |
X |
X |
x=0.5,y=0.92,z=0.5 |
|||
“chair_17” |
chair |
5 |
X |
X |
x=0.45,y=0.85,z=0.45 |
|||
“chair_18” |
chair |
5 |
X |
X |
x=0.45,y=1.1,z=0.5 |
|||
“changing_table” |
changing table |
100 |
X |
X |
x=1.1,y=0.96,z=0.58 |
|||
“chest_1” |
chest |
15 |
X |
X |
x=0.83,y=0.42,z=0.55 |
Chest with rectangular lid |
||
“chest_2” |
chest |
15 |
X |
X |
x=0.52,y=0.42,z=0.31 |
Chest with domed lid |
||
“chest_3” |
chest |
15 |
X |
X |
x=0.46,y=0.26,z=0.32 |
Chest with rectangular lid |
||
“chest_4” |
chest |
15 |
X |
X |
x=0.72,y=0.35,z=0.6 |
Chest with rounded lid |
||
“chest_5” |
chest |
15 |
X |
X |
x=0.46,y=0.28,z=0.52 |
Chest with rounded lid |
||
“chest_6” |
chest |
15 |
X |
X |
x=0.5,y=0.36,z=0.74 |
Chest with trapezoidal lid |
||
“chest_7” |
chest |
15 |
X |
X |
x=0.59,y=0.49,z=0.78 |
Chest with fancy lid |
||
“chest_8” |
chest |
15 |
X |
X |
x=0.42,y=0.32,z=0.36 |
Chest with domed lid |
||
“chest_9” |
chest |
15 |
X |
X |
x=0.84,y=0.41,z=0.68 |
Chest with trapezoidal lid |
||
“chest_10” |
chest |
15 |
X |
X |
x=0.37,y=0.39,z=0.38 |
Chest with curved lid |
||
“chest_11” |
chest |
15 |
X |
X |
x=0.74,y=0.76,z=0.66 |
Chest with flat lid |
||
“circular_container” |
container |
5 |
X |
X |
x=0.25,y=0.42,z=0.36 |
|||
“crib” |
crib |
25 |
x=0.65,y=0.9,z=1.25 |
|||||
“desk_1” |
desk |
20 |
X |
x=1,y=1,z=1 |
Square desk with 3 sides |
|||
“desk_2” |
desk |
15 |
X |
x=1,y=1,z=1 |
Square desk with 2 sides and 1 leg |
|||
“desk_3” |
desk |
20 |
X |
x=1.5,y=1,z=1.5 |
Circular desk with 3 sides |
|||
“desk_4” |
desk |
30 |
X |
x=1,y=2,z=1 |
Square desk with 3 sides on bottom and top |
|||
“desk_5” |
desk |
30 |
X |
x=2,y=1,z=0.5 |
Rectangular desk with 2 shelves on the left |
|||
“desk_6” |
desk |
30 |
X |
x=2,y=1,z=0.5 |
Rectangular desk with 2 shelves on the right |
|||
“desk_7” |
desk |
20 |
X |
x=1.17,y=0.93,z=0.56 |
Can see through underneath the desk |
|||
“desk_8” |
desk |
20 |
X |
x=1.15,y=0.82,z=0.55 |
Can see through underneath the desk |
|||
“desk_9” |
desk |
20 |
X |
x=0.85,y=0.95,z=0.58 |
Can see through underneath the desk |
|||
“desk_10” |
desk |
20 |
X |
x=1.7,y=1,z=0.93 |
Can see through underneath the desk |
|||
“folding_chair” |
chair |
5 |
X |
X |
x=0.48,y=0.86,z=0.56 |
|||
“hamper” |
hamper |
5 |
X |
X |
none |
x=0.5,y=0.66,z=0.4 |
Short laundry hamper with a brown wicker texture |
|
“high_chair” |
chair |
5 |
X |
X |
x=0.64,y=0.84,z=0.8 |
|||
“shelf_1” |
shelf |
10 |
X |
x=0.78,y=0.77,z=0.4 |
Object with four cubbies |
|||
“shelf_2” |
shelf |
20 |
X |
x=0.93,y=0.73,z=1.02 |
Object with three shelves |
|||
“sofa_1” |
sofa |
100 |
X |
x=2.64,y=1.15,z=1.23 |
||||
“sofa_2” |
sofa |
100 |
X |
x=2.55,y=1.25,z=0.95 |
||||
“sofa_3” |
sofa |
100 |
X |
x=2.4,y=1.25,z=0.95 |
||||
“sofa_4” |
sofa |
100 |
X |
x=1.59,y=0.84,z=1.01 |
||||
“sofa_5” |
sofa |
100 |
X |
x=1.86,y=0.9,z=1 |
||||
“sofa_6” |
sofa |
100 |
X |
x=1.69,y=0.72,z=0.92 |
||||
“sofa_7” |
sofa |
100 |
X |
x=1.61,y=0.85,z=0.93 |
||||
“sofa_8” |
sofa |
100 |
X |
x=2.78,y=0.86,z=1.1 |
||||
“sofa_9” |
sofa |
100 |
X |
x=2.54,y=1.62,z=1.52 |
||||
“sofa_10” |
sofa |
100 |
X |
x=1.75,y=0.72,z=0.82 |
||||
“sofa_11” |
sofa |
100 |
X |
none |
x=3.3,y=1.7,z=1.5 |
|||
“sofa_12” |
sofa |
100 |
X |
none |
x=0.8,y=1.08,z=2.22 |
|||
“sofa_chair_1” |
sofa chair |
50 |
X |
x=1.43,y=1.15,z=1.23 |
||||
“sofa_chair_2” |
sofa chair |
50 |
X |
x=1.425,y=1.25,z=0.95 |
||||
“sofa_chair_3” |
sofa chair |
50 |
X |
x=1.425,y=1.25,z=0.95 |
||||
“sofa_chair_4” |
sofa chair |
50 |
X |
x=1,y=0.86,z=0.87 |
||||
“sofa_chair_5” |
sofa chair |
50 |
X |
x=0.96,y=0.92,z=1 |
||||
“sofa_chair_6” |
sofa chair |
50 |
X |
x=0.67,y=0.64,z=0.67 |
||||
“sofa_chair_7” |
sofa chair |
50 |
X |
x=0.69,y=0.68,z=0.63 |
||||
“sofa_chair_8” |
sofa chair |
50 |
X |
x=2.18,y=1.24,z=1.6 |
||||
“sofa_chair_9” |
sofa chair |
50 |
X |
x=1.38,y=1.46,z=1.36 |
||||
“sofa_chair_10” |
sofa chair |
50 |
X |
x=0.96,y=0.89,z=0.76 |
||||
“table_1” |
table |
10 |
X |
X |
x=0.69,y=0.88,z=1.63 |
Rectangular table with legs |
||
“table_2” |
table |
5 |
X |
X |
x=0.67,y=0.74,z=0.67 |
Circular table |
||
“table_3” |
table |
2.5 |
X |
X |
x=0.573,y=1.018,z=0.557 |
Circular table |
||
“table_4” |
table |
5 |
X |
X |
x=0.62,y=0.62,z=1.17 |
Semi-circular table |
||
“table_5” |
table |
20 |
X |
X |
x=1.2,y=0.7,z=0.9 |
Rectangular table with sides |
||
“table_7” |
table |
10 |
X |
X |
x=1.02,y=0.45,z=0.65 |
Rectangular table with legs |
||
“table_8” |
table |
10 |
X |
X |
x=0.65,y=0.71,z=1.02 |
Rectangular table with legs |
||
“table_11” |
table |
15 |
X |
X |
x=1,y=0.5,z=1 |
Rectangular table with T legs |
||
“table_12” |
table |
15 |
X |
X |
x=1,y=0.5,z=1 |
Rectangular table with X legs |
||
“table_13” |
table |
5 |
X |
X |
x=0.58,y=0.62,z=0.59 |
Short circular table |
||
“table_14” |
table |
10 |
X |
X |
x=0.53,y=0.59,z=0.53 |
Short rectangular table |
||
“table_15” |
table |
15 |
X |
X |
x=1.33,y=0.9,z=0.79 |
Rectangular table |
||
“table_16” |
table |
10 |
X |
X |
x=1.06,y=0.83,z=1.05 |
Circular table |
||
“table_17” |
table |
10 |
X |
X |
x=1.16,y=0.82,z=0.75 |
Rectangular table |
||
“table_18” |
table |
15 |
X |
X |
x=1.57,y=0.91,z=0.87 |
Rectangular table |
||
“table_19” |
table |
10 |
X |
X |
x=0.92,y=0.54,z=0.49 |
Rectangular table |
||
“table_20” |
table |
10 |
X |
X |
x=0.96,y=0.64,z=0.93 |
Rectangular table |
||
“table_21” |
table |
10 |
X |
X |
x=1.286,y=0.913,z=0.822 |
Rectangular table |
||
“table_22” |
table |
10 |
X |
X |
x=1.431,y=0.652,z=0.695 |
Short oval table |
||
“table_23” |
table |
10 |
X |
X |
x=1.24,y=0.64,z=0.79 |
Short rectangular table |
||
“table_24” |
table |
10 |
X |
X |
x=1.63,y=0.4,z=0.6 |
Short rectangular table |
||
“table_25” |
table |
5 |
X |
X |
x=0.65,y=0.68,z=0.75 |
Circular table |
||
“table_26” |
table |
5 |
X |
X |
x=0.65,y=0.68,z=0.75 |
Square table |
||
“table_27” |
table |
5 |
X |
X |
x=1.2,y=0.7,z=1.2 |
Circular plastic table |
||
“table_28” |
table |
5 |
X |
X |
x=2,y=0.82,z=2 |
Large circular table |
||
“tv_2” |
television |
5 |
none |
x=1.234,y=0.896,z=0.256 |
(*) |
|||
“wardrobe” |
wardrobe |
100 |
X |
X |
x=1.07,y=2.1,z=0.49 |
Tool Objects¶
All the tools have the tool shape, metal salient material, moveable and receptacle attributes, and default to the same grey texture, though can be assigned any tool material using their “materials” property.
Object Type |
Default Mass |
Base Size |
Details |
|---|---|---|---|
“tool_big_0_50_x_33_00” |
3 |
x=0.5,y=0.3,z=33 |
Rectangular (symmetric) tool, too big to be used successfully |
“tool_big_0_50_x_36_00” |
3 |
x=0.5,y=0.3,z=36 |
Rectangular (symmetric) tool, too big to be used successfully |
“tool_big_0_50_x_39_00” |
3 |
x=0.5,y=0.3,z=39 |
Rectangular (symmetric) tool, too big to be used successfully |
“tool_big_0_75_x_33_00” |
3 |
x=0.75,y=0.3,z=33 |
Rectangular (symmetric) tool, too big to be used successfully |
“tool_big_0_75_x_36_00” |
3 |
x=0.75,y=0.3,z=36 |
Rectangular (symmetric) tool, too big to be used successfully |
“tool_big_0_75_x_39_00” |
3 |
x=0.75,y=0.3,z=39 |
Rectangular (symmetric) tool, too big to be used successfully |
“tool_big_1_00_x_33_00” |
3 |
x=1.0,y=0.3,z=33 |
Rectangular (symmetric) tool, too big to be used successfully |
“tool_big_1_00_x_36_00” |
3 |
x=1.0,y=0.3,z=36 |
Rectangular (symmetric) tool, too big to be used successfully |
“tool_big_1_00_x_39_00” |
3 |
x=1.0,y=0.3,z=39 |
Rectangular (symmetric) tool, too big to be used successfully |
“tool_hooked_0_50_x_4_00” |
3 |
x=1.5,y=0.3,z=4 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_0_50_x_5_00” |
3.25 |
x=1.5,y=0.3,z=5 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_0_50_x_6_00” |
3.5 |
x=1.5,y=0.3,z=6 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_0_50_x_7_00” |
3.75 |
x=1.5,y=0.3,z=7 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_0_50_x_8_00” |
4 |
x=1.5,y=0.3,z=8 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_0_50_x_9_00” |
4.25 |
x=1.5,y=0.3,z=9 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_0_75_x_4_00” |
3.33 |
x=2.25,y=0.3,z=4 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_0_75_x_5_00” |
3.66 |
x=2.25,y=0.3,z=5 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_0_75_x_6_00” |
4 |
x=2.25,y=0.3,z=6 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_0_75_x_7_00” |
4.33 |
x=2.25,y=0.3,z=7 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_0_75_x_8_00” |
4.66 |
x=2.25,y=0.3,z=8 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_0_75_x_9_00” |
5 |
x=2.25,y=0.3,z=9 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_1_00_x_4_00” |
4 |
x=3,y=0.3,z=4 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_1_00_x_5_00” |
4.5 |
x=3,y=0.3,z=5 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_1_00_x_6_00” |
5 |
x=3,y=0.3,z=6 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_1_00_x_7_00” |
5.5 |
x=3,y=0.3,z=7 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_1_00_x_8_00” |
6 |
x=3,y=0.3,z=8 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_hooked_1_00_x_9_00” |
6.5 |
x=3,y=0.3,z=9 |
L-shaped (asymmetric) tool with two unequal sides |
“tool_isosceles_0_50_x_4_00” |
3 |
x=4,y=0.3,z=4 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_0_50_x_5_00” |
3.25 |
x=5,y=0.3,z=5 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_0_50_x_6_00” |
3.5 |
x=6,y=0.3,z=6 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_0_50_x_7_00” |
3.75 |
x=7,y=0.3,z=7 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_0_50_x_8_00” |
4 |
x=8,y=0.3,z=8 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_0_50_x_9_00” |
4.25 |
x=9,y=0.3,z=9 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_0_75_x_4_00” |
3.33 |
x=4,y=0.3,z=4 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_0_75_x_5_00” |
3.66 |
x=5,y=0.3,z=5 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_0_75_x_6_00” |
4 |
x=6,y=0.3,z=6 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_0_75_x_7_00” |
4.33 |
x=7,y=0.3,z=7 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_0_75_x_8_00” |
4.66 |
x=8,y=0.3,z=8 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_0_75_x_9_00” |
5 |
x=9,y=0.3,z=9 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_1_00_x_4_00” |
4 |
x=4,y=0.3,z=4 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_1_00_x_5_00” |
4.5 |
x=5,y=0.3,z=5 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_1_00_x_6_00” |
5 |
x=6,y=0.3,z=6 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_1_00_x_7_00” |
5.5 |
x=7,y=0.3,z=7 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_1_00_x_8_00” |
6 |
x=8,y=0.3,z=8 |
L-shaped (asymmetric) tool with two equal sides |
“tool_isosceles_1_00_x_9_00” |
6.5 |
x=9,y=0.3,z=9 |
L-shaped (asymmetric) tool with two equal sides |
“tool_rect_0_50_x_1_00” |
5 |
x=0.5,y=0.3,z=1 |
Rectangular (symmetric) tool, too small to be used successfully |
“tool_rect_0_50_x_3_00” |
3 |
x=0.5,y=0.3,z=3 |
Rectangular (symmetric) tool, used in the secondary tool task |
“tool_rect_0_50_x_4_00” |
3 |
x=0.5,y=0.3,z=4 |
Rectangular (symmetric) tool |
“tool_rect_0_50_x_5_00” |
3.25 |
x=0.5,y=0.3,z=5 |
Rectangular (symmetric) tool |
“tool_rect_0_50_x_6_00” |
3.5 |
x=0.5,y=0.3,z=6 |
Rectangular (symmetric) tool |
“tool_rect_0_50_x_7_00” |
3.75 |
x=0.5,y=0.3,z=7 |
Rectangular (symmetric) tool |
“tool_rect_0_50_x_8_00” |
4 |
x=0.5,y=0.3,z=8 |
Rectangular (symmetric) tool |
“tool_rect_0_50_x_9_00” |
4.25 |
x=0.5,y=0.3,z=9 |
Rectangular (symmetric) tool |
“tool_rect_0_63_x_1_00” |
5 |
x=0.63,y=0.3,z=1 |
Rectangular (symmetric) tool, too small to be used successfully |
“tool_rect_0_63_x_4_00” |
3 |
x=0.63,y=0.3,z=4 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_0_63_x_5_00” |
3.25 |
x=0.63,y=0.3,z=5 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_0_63_x_6_00” |
3.5 |
x=0.63,y=0.3,z=6 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_0_63_x_7_00” |
3.75 |
x=0.63,y=0.3,z=7 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_0_63_x_8_00” |
4 |
x=0.63,y=0.3,z=8 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_0_63_x_9_00” |
4.25 |
x=0.63,y=0.3,z=9 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_0_75_x_1_00” |
5 |
x=0.75,y=0.3,z=1 |
Rectangular (symmetric) tool, too small to be used successfully |
“tool_rect_0_75_x_3_00” |
3.33 |
x=0.75,y=0.3,z=3 |
Rectangular (symmetric) tool, used in the secondary tool task |
“tool_rect_0_75_x_4_00” |
3.33 |
x=0.75,y=0.3,z=4 |
Rectangular (symmetric) tool |
“tool_rect_0_75_x_5_00” |
3.66 |
x=0.75,y=0.3,z=5 |
Rectangular (symmetric) tool |
“tool_rect_0_75_x_6_00” |
4 |
x=0.75,y=0.3,z=6 |
Rectangular (symmetric) tool |
“tool_rect_0_75_x_7_00” |
4.33 |
x=0.75,y=0.3,z=7 |
Rectangular (symmetric) tool |
“tool_rect_0_75_x_8_00” |
4.66 |
x=0.75,y=0.3,z=8 |
Rectangular (symmetric) tool |
“tool_rect_0_75_x_9_00” |
5 |
x=0.75,y=0.3,z=9 |
Rectangular (symmetric) tool |
“tool_rect_0_88_x_1_00” |
5 |
x=0.88,y=0.3,z=1 |
Rectangular (symmetric) tool, too small to be used successfully |
“tool_rect_0_88_x_4_00” |
3.33 |
x=0.88,y=0.3,z=4 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_0_88_x_5_00” |
3.66 |
x=0.88,y=0.3,z=5 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_0_88_x_6_00” |
4 |
x=0.88,y=0.3,z=6 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_0_88_x_7_00” |
4.33 |
x=0.88,y=0.3,z=7 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_0_88_x_8_00” |
4.66 |
x=0.88,y=0.3,z=8 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_0_88_x_9_00” |
5 |
x=0.88,y=0.3,z=9 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_1_00_x_1_00” |
5 |
x=1,y=0.3,z=1 |
Rectangular (symmetric) tool, too small to be used successfully |
“tool_rect_1_00_x_3_00” |
4 |
x=1,y=0.3,z=4 |
Rectangular (symmetric) tool, used in the secondary tool task |
“tool_rect_1_00_x_4_00” |
4 |
x=1,y=0.3,z=4 |
Rectangular (symmetric) tool |
“tool_rect_1_00_x_5_00” |
4.5 |
x=1,y=0.3,z=5 |
Rectangular (symmetric) tool |
“tool_rect_1_00_x_6_00” |
5 |
x=1,y=0.3,z=6 |
Rectangular (symmetric) tool |
“tool_rect_1_00_x_7_00” |
5.5 |
x=1,y=0.3,z=7 |
Rectangular (symmetric) tool |
“tool_rect_1_00_x_8_00” |
6 |
x=1,y=0.3,z=8 |
Rectangular (symmetric) tool |
“tool_rect_1_00_x_9_00” |
6.5 |
x=1,y=0.3,z=9 |
Rectangular (symmetric) tool |
“tool_rect_1_13_x_1_00” |
5 |
x=1.13,y=0.3,z=1 |
Rectangular (symmetric) tool, too small to be used successfully |
“tool_rect_1_13_x_4_00” |
4 |
x=1.13,y=0.3,z=4 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_1_13_x_5_00” |
4.5 |
x=1.13,y=0.3,z=5 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_1_13_x_6_00” |
5 |
x=1.13,y=0.3,z=6 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_1_13_x_7_00” |
5.5 |
x=1.13,y=0.3,z=7 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_1_13_x_8_00” |
6 |
x=1.13,y=0.3,z=8 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
“tool_rect_1_13_x_9_00” |
6.5 |
x=1.13,y=0.3,z=9 |
Rectangular (symmetric) tool, used in Eval 6 as a novel width |
Agents¶
These agents are used in scenes for the interactive tasks.
Object Type |
Default Mass |
Base Size |
|---|---|---|
“agent_female_01” |
70 |
x=0.5,y=1.6,z=0.5 |
“agent_female_02” |
70 |
x=0.5,y=1.6,z=0.5 |
“agent_female_03” |
70 |
x=0.5,y=1.6,z=0.5 |
“agent_female_04” |
70 |
x=0.5,y=1.6,z=0.5 |
“agent_female_05” |
70 |
x=0.5,y=1.6,z=0.5 |
“agent_female_06” |
70 |
x=0.5,y=1.6,z=0.5 |
“agent_female_07” |
70 |
x=0.5,y=1.6,z=0.5 |
“agent_female_08” |
70 |
x=0.5,y=1.6,z=0.5 |
“agent_male_01” |
80 |
x=0.5,y=1.6,z=0.5 |
“agent_male_02” |
80 |
x=0.5,y=1.6,z=0.5 |
“agent_male_03” |
80 |
x=0.5,y=1.6,z=0.5 |
“agent_male_04” |
80 |
x=0.5,y=1.6,z=0.5 |
“agent_male_05” |
80 |
x=0.5,y=1.6,z=0.5 |
“agent_male_06” |
80 |
x=0.5,y=1.6,z=0.5 |
“agent_male_07” |
80 |
x=0.5,y=1.6,z=0.5 |
“agent_male_08” |
80 |
x=0.5,y=1.6,z=0.5 |
Blobs¶
These blobs are used in scenes for the passive agent tasks, as well as some scenes for the interactive tasks. Each blob type also has a variant type with a nose-like protrusion ending in _nose (for example, blob_01 and blob_01_nose).
Object Type |
Base Size |
Standing Y Position |
|---|---|---|
“blob_01” |
x=0.26,y=0.8,z=0.36 |
0.4 |
“blob_02” |
x=0.33,y=0.78,z=0.33 |
0.39 |
“blob_03” |
x=0.25,y=0.69,z=0.25 |
0.345 |
“blob_04” |
x=0.3,y=0.53,z=0.3 |
0.225 |
“blob_05” |
x=0.38,y=0.56,z=0.38 |
0.24 |
“blob_06” |
x=0.52,y=0.5,z=0.54 |
0.25 |
“blob_07” |
x=0.25,y=0.55,z=0.25 |
0.245 |
“blob_08” |
x=0.27,y=0.62,z=0.15 |
0.31 |
“blob_09” |
x=0.33,y=0.78,z=0.44 |
0.39 |
“blob_10” |
x=0.24,y=0.5,z=0.2 |
0.25 |
“blob_11” |
x=0.35,y=0.58,z=0.35 |
0.29 |
“blob_12” |
x=0.3,y=0.48,z=0.3 |
0.24 |
“blob_13” |
x=0.32,y=0.71,z=0.3 |
0.37 |
“blob_14” |
x=0.52,y=0.55,z=0.3 |
0.42 |
“blob_15” |
x=0.32,y=0.41,z=0.58 |
0.17 |
“blob_16” |
x=0.46,y=0.52,z=0.54 |
0.27 |
“blob_17” |
x=0.32,y=0.78,z=0.41 |
0.385 |
“blob_18” |
x=0.32,y=0.79,z=0.39 |
0.37 |
“blob_19” |
x=0.39,y=0.8,z=0.39 |
0.45 |
“blob_20” |
x=0.21,y=0.61,z=0.27 |
0.26 |
“blob_21” |
x=0.21,y=0.72,z=0.36 |
0.265 |
“blob_22” |
x=0.19,y=0.73,z=0.37 |
0.265 |
Primitive Objects¶
The following objects have a default mass of 1, base size of (x=1, y=1, z=1), and no material restrictions. By default, each primitive object’s center Y position is 0, which will position it halfway inside the ground. You can configure them with properties like physics, moveable, pickupable, or structure. These are NOT the internal Unity primitive 3D GameObjects.
“circle_frustum”
“cone”
“cube”
“cylinder”
“pyramid”
“sphere”
“square_frustum”
“triangle”
“tube_narrow”
“tube_wide”
Other Objects¶
The following objects have a default mass of 1 and no material restrictions. You can configure them with properties like physics, moveable, pickupable, or structure.
Object Type |
Base Size |
Default Center Y Position |
|---|---|---|
“double_cone” |
(x=1,y=1,z=1) |
0 |
“cube_hollow_narrow” |
(x=1,y=1,z=1) |
0.5 |
“cube_hollow_wide” |
(x=1,y=1,z=1) |
0.5 |
“dumbbell_1” |
(x=1,y=1,z=1) |
0 |
“dumbbell_2” |
(x=1,y=1,z=1) |
0 |
“hash” |
(x=1,y=1,z=1) |
0.5 |
“letter_l_narrow” |
(x=0.5,y=1,z=0.5) |
0 |
“letter_l_wide” |
(x=1,y=1,z=0.5) |
0 |
“letter_l_wide_tall” |
(x=1,y=2,z=0.5) |
0 |
“letter_x” |
(x=1,y=1,z=1) |
0.5 |
“lock_wall” |
(x=1,y=1,z=1) |
0 |
“rollable_1” |
(x=1,y=1,z=1) |
0 |
“rollable_2” |
(x=1,y=1,z=1) |
0 |
“rollable_3” |
(x=1,y=1,z=1) |
0 |
“rollable_4” |
(x=1,y=1,z=1) |
0 |
“rollable_5” |
(x=1,y=1,z=1) |
0 |
“rollable_6” |
(x=1,y=1,z=1) |
0 |
“rollable_7” |
(x=1,y=1,z=1) |
0 |
“rollable_8” |
(x=1,y=1,z=1) |
0 |
“rollable_9” |
(x=1,y=1,z=1) |
0 |
“rollable_10” |
(x=1,y=1,z=1) |
0 |
“rollable_11” |
(x=1,y=1,z=1) |
0 |
“rollable_12” |
(x=1,y=1,z=1) |
0 |
“tie_fighter” |
(x=1,y=1,z=1) |
0 |
Deprecated Objects¶
The following object types are not currently used:
“box_2”
“box_3”
“box_4”
“cake”
“foam_floor_tiles”
“gift_box_1”
“painting_2”
“painting_4”
“painting_5”
“painting_9”
“painting_10”
“painting_16”
“plant_1”
“plant_5”
“plant_7”
“plant_9”
“plant_12”
“plant_16”
Child Components¶
Some objects have child components representing cabinets, drawers, or shelves. Child components are not found in the scene configuration file but are automatically generated by the MCS environment. Child components have their own object IDs so the player may use actions like OpenObject or PutObject with specific cabinets/drawers/shelves.
The following objects have the following child components:
- “changing_table”:
“<id>_drawer_top”
“<id>_drawer_bottom”
“<id>_shelf_top”
“<id>_shelf_middle”
“<id>_shelf_bottom”
- “bookcase_1_shelf”:
“<id>_bottom”
“<id>_shelf_1”
- “bookcase_1_shelf_sideless”:
“<id>_bottom”
“<id>_shelf_1”
- “bookcase_2_shelf”:
“<id>_bottom”
“<id>_shelf_1”
“<id>_shelf_2”
- “bookcase_2_shelf_sideless”:
“<id>_bottom”
“<id>_shelf_1”
“<id>_shelf_2”
- “bookcase_3_shelf”:
“<id>_bottom”
“<id>_shelf_1”
“<id>_shelf_2”
“<id>_shelf_3”
- “bookcase_3_shelf_sideless”:
“<id>_bottom”
“<id>_shelf_1”
“<id>_shelf_2”
“<id>_shelf_3”
- “bookcase_4_shelf”:
“<id>_bottom”
“<id>_shelf_1”
“<id>_shelf_2”
“<id>_shelf_3”
“<id>_shelf_4”
- “bookcase_4_shelf_sideless”:
“<id>_bottom”
“<id>_shelf_1”
“<id>_shelf_2”
“<id>_shelf_3”
“<id>_shelf_4”
- “shelf_1”:
“<id>_bottom_left_shelf”
“<id>_bottom_right_shelf”
“<id>_top_left_shelf”
“<id>_top_right_shelf”
- “shelf_2”:
“<id>_middle_shelf”
“<id>_lower_shelf”
- “wardrobe”:
“<id>_bottom_shelf_left”
“<id>_left_door”
“<id>_lower_drawer_bottom_left”
“<id>_lower_drawer_bottom_right”
“<id>_lower_drawer_top_left”
“<id>_lower_drawer_top_right”
“<id>_middle_shelf_left”
“<id>_middle_shelf_right”
“<id>_right_door”
“<id>_top_shelf”
Material List¶
In Unity, “Materials” are the colors and textures applied to objects in the 3D simulation environment. Some objects may have default materials. Some objects may have multiple materials. Some materials may have patterns intended for objects of a specific size, and may look odd if applied to objects that are too big or small.
For our training and evaluation datasets, we normally use the materials under “Walls”, “Ceramics”, “Fabrics”, and “Woods” for the ceiling and the walls, and the materials under “Ceramics”, “Fabrics”, and “Woods” for the floors.
The following materials are currently available:
Armchair THORKEA Materials¶
Specific textures for sofa_chair_4, sofa_chair_5, sofa_chair_6, AND sofa_chair_7 only.
“AI2-THOR/Objects/Physics/SimObjsPhysics/THORKEA Objects/THORKEA_Assets_Furniture/Armchair/Materials/THORKEA_Armchair_Ekemas_Fabric_Mat”
“AI2-THOR/Objects/Physics/SimObjsPhysics/THORKEA Objects/THORKEA_Assets_Furniture/Armchair/Materials/THORKEA_Armchair_Ektorp_Fabric_Mat”
“AI2-THOR/Objects/Physics/SimObjsPhysics/THORKEA Objects/THORKEA_Assets_Furniture/Armchair/Materials/THORKEA_Armchair_Emmabo_Fabric_Mat”
“AI2-THOR/Objects/Physics/SimObjsPhysics/THORKEA Objects/THORKEA_Assets_Furniture/Armchair/Materials/THORKEA_Armchair_Karlstad_Fabric_Mat”
“AI2-THOR/Objects/Physics/SimObjsPhysics/THORKEA Objects/THORKEA_Assets_Furniture/Armchair/Materials/THORKEA_Armchair_Overalt_Fabric_Mat”
“AI2-THOR/Objects/Physics/SimObjsPhysics/THORKEA Objects/THORKEA_Assets_Furniture/Armchair/Materials/THORKEA_Armchair_Tullsta_Fabric_Mat”
Block Materials (Blank)¶
Colors that were designed for the blank blocks, and look good on some of the wooden baby toys.
“UnityAssetStore/Wooden_Toys_Bundle/ToyBlocks/meshes/Materials/blue_1x1”
“UnityAssetStore/Wooden_Toys_Bundle/ToyBlocks/meshes/Materials/gray_1x1”
“UnityAssetStore/Wooden_Toys_Bundle/ToyBlocks/meshes/Materials/green_1x1”
“UnityAssetStore/Wooden_Toys_Bundle/ToyBlocks/meshes/Materials/red_1x1”
“UnityAssetStore/Wooden_Toys_Bundle/ToyBlocks/meshes/Materials/wood_1x1”
“UnityAssetStore/Wooden_Toys_Bundle/ToyBlocks/meshes/Materials/yellow_1x1”
Block Materials (Letter/Number)¶
Designs for the letter/number blocks.
“UnityAssetStore/KD_NumberBlocks/Assets/Textures/Yellow/TOYBlocks_NumberBlock_1_Yellow_1K/NumberBlockYellow_1”
“UnityAssetStore/KD_NumberBlocks/Assets/Textures/Yellow/TOYBlocks_NumberBlock_2_Yellow_1K/NumberBlockYellow_2”
“UnityAssetStore/KD_NumberBlocks/Assets/Textures/Yellow/TOYBlocks_NumberBlock_3_Yellow_1K/NumberBlockYellow_3”
“UnityAssetStore/KD_NumberBlocks/Assets/Textures/Yellow/TOYBlocks_NumberBlock_4_Yellow_1K/NumberBlockYellow_4”
“UnityAssetStore/KD_NumberBlocks/Assets/Textures/Yellow/TOYBlocks_NumberBlock_5_Yellow_1K/NumberBlockYellow_5”
“UnityAssetStore/KD_NumberBlocks/Assets/Textures/Yellow/TOYBlocks_NumberBlock_6_Yellow_1K/NumberBlockYellow_6”
“UnityAssetStore/KD_AlphabetBlocks/Assets/Textures/Blue/TOYBlocks_AlphabetBlock_A_Blue_1K/ToyBlockBlueA”
“UnityAssetStore/KD_AlphabetBlocks/Assets/Textures/Blue/TOYBlocks_AlphabetBlock_B_Blue_1K/ToyBlockBlueB”
“UnityAssetStore/KD_AlphabetBlocks/Assets/Textures/Blue/TOYBlocks_AlphabetBlock_C_Blue_1K/ToyBlockBlueC”
“UnityAssetStore/KD_AlphabetBlocks/Assets/Textures/Blue/TOYBlocks_AlphabetBlock_D_Blue_1K/ToyBlockBlueD”
“UnityAssetStore/KD_AlphabetBlocks/Assets/Textures/Blue/TOYBlocks_AlphabetBlock_M_Blue_1K/ToyBlockBlueM”
“UnityAssetStore/KD_AlphabetBlocks/Assets/Textures/Blue/TOYBlocks_AlphabetBlock_S_Blue_1K/ToyBlockBlueS”
Cardboard Materials¶
“AI2-THOR/Materials/Misc/Cardboard_Brown”
“AI2-THOR/Materials/Misc/Cardboard_Grey”
“AI2-THOR/Materials/Misc/Cardboard_Tan”
Ceramic Materials¶
“AI2-THOR/Materials/Ceramics/BrownMarbleFake 1”
“AI2-THOR/Materials/Ceramics/ConcreteBoards1”
“AI2-THOR/Materials/Ceramics/ConcreteFloor”
“AI2-THOR/Materials/Ceramics/GREYGRANITE”
“AI2-THOR/Materials/Ceramics/PinkConcrete_Bedroom1”
“AI2-THOR/Materials/Ceramics/RedBrick”
“AI2-THOR/Materials/Ceramics/TexturesCom_BrickRound0044_1_seamless_S” (rough stone)
“AI2-THOR/Materials/Ceramics/WhiteCountertop”
Fabric Materials¶
“AI2-THOR/Materials/Fabrics/BedroomCarpet” (blue pattern)
“AI2-THOR/Materials/Fabrics/Carpet2”
“AI2-THOR/Materials/Fabrics/Carpet3”
“AI2-THOR/Materials/Fabrics/Carpet4”
“AI2-THOR/Materials/Fabrics/Carpet8”
“AI2-THOR/Materials/Fabrics/CarpetDark”
“AI2-THOR/Materials/Fabrics/CarpetDark 1”
“AI2-THOR/Materials/Fabrics/CarpetDarkGreen”
“AI2-THOR/Materials/Fabrics/CarpetGreen”
“AI2-THOR/Materials/Fabrics/CarpetWhite”
“AI2-THOR/Materials/Fabrics/CarpetWhite 3”
“AI2-THOR/Materials/Fabrics/HotelCarpet” (red pattern)
“AI2-THOR/Materials/Fabrics/HotelCarpet3” (red pattern)
“AI2-THOR/Materials/Fabrics/RUG2” (red and blue pattern)
“AI2-THOR/Materials/Fabrics/Rug3” (blue and red pattern)
“AI2-THOR/Materials/Fabrics/RUG4” (red and yellow pattern)
“AI2-THOR/Materials/Fabrics/Rug5” (white pattern)
“AI2-THOR/Materials/Fabrics/Rug6” (green, purple, and red pattern)
“AI2-THOR/Materials/Fabrics/RUG7” (red and blue pattern)
“AI2-THOR/Materials/Fabrics/RugPattern224” (brown, green, and white pattern)
“Custom/Materials/AzureCarpetMCS”
“Custom/Materials/BlackCarpetMCS”
“Custom/Materials/BlueCarpetMCS”
“Custom/Materials/BrownCarpetMCS”
“Custom/Materials/ChartreuseCarpetMCS”
“Custom/Materials/CreamCarpetMCS”
“Custom/Materials/CyanCarpetMCS”
“Custom/Materials/DarkGreyCarpetMCS”
“Custom/Materials/GoldenrodCarpetMCS”
“Custom/Materials/GreenCarpetMCS”
“Custom/Materials/GreyCarpetMCS”
“Custom/Materials/IndigoCarpetMCS”
“Custom/Materials/LimeCarpetMCS”
“Custom/Materials/MagentaCarpetMCS”
“Custom/Materials/MaroonCarpetMCS”
“Custom/Materials/NavyCarpetMCS”
“Custom/Materials/OliveCarpetMCS”
“Custom/Materials/OrangeCarpetMCS”
“Custom/Materials/PinkCarpetMCS”
“Custom/Materials/PurpleCarpetMCS”
“Custom/Materials/RedCarpetMCS”
“Custom/Materials/RoseCarpetMCS”
“Custom/Materials/SpringGreenCarpetMCS”
“Custom/Materials/TanCarpetMCS”
“Custom/Materials/TealCarpetMCS”
“Custom/Materials/VioletCarpetMCS”
“Custom/Materials/WhiteCarpetMCS”
“Custom/Materials/YellowCarpetMCS”
Flat Materials¶
Custom-made textures that are completely flat colors.
“Custom/Materials/Azure”
“Custom/Materials/Black”
“Custom/Materials/Blue”
“Custom/Materials/Brown”
“Custom/Materials/Chartreuse”
“Custom/Materials/Cream”
“Custom/Materials/Cyan”
“Custom/Materials/DarkGrey”
“Custom/Materials/Goldenrod”
“Custom/Materials/Green”
“Custom/Materials/Grey”
“Custom/Materials/Indigo”
“Custom/Materials/Lime”
“Custom/Materials/Magenta”
“Custom/Materials/Maroon”
“Custom/Materials/Navy”
“Custom/Materials/Olive”
“Custom/Materials/Orange”
“Custom/Materials/Pink”
“Custom/Materials/Purple”
“Custom/Materials/Red”
“Custom/Materials/Rose”
“Custom/Materials/Silver”
“Custom/Materials/SpringGreen”
“Custom/Materials/Tan”
“Custom/Materials/Teal”
“Custom/Materials/Violet”
“Custom/Materials/White”
“Custom/Materials/Yellow”
Leather Materials¶
“AI2-THOR/Materials/Fabrics/Leather”
“AI2-THOR/Materials/Fabrics/Leather2”
“AI2-THOR/Materials/Fabrics/Leather3”
“AI2-THOR/Materials/Fabrics/Leather 2”
Leather Armchair Materials¶
Specific textures for antique_armchair_1 only.
“UnityAssetStore/Leather_Chair/Assets/Materials/Leather_Chair_NEW_1”
“UnityAssetStore/Leather_Chair/Assets/Materials/Leather_Chair_NEW_2”
“UnityAssetStore/Leather_Chair/Assets/Materials/Leather_Chair_NEW_3”
“UnityAssetStore/Leather_Chair/Assets/Materials/Leather_Chair_NEW_4”
“UnityAssetStore/Leather_Chair/Assets/Materials/Leather_Chair_normal_OLD”
Metal Materials¶
“AI2-THOR/Materials/Metals/BlackFoil”
“AI2-THOR/Materials/Metals/BlackSmoothMeta” (yes, it is misspelled)
“AI2-THOR/Materials/Metals/Brass 1”
“AI2-THOR/Materials/Metals/Brass_Mat”
“AI2-THOR/Materials/Metals/BrownMetal 1”
“AI2-THOR/Materials/Metals/BrushedAluminum_Blue”
“AI2-THOR/Materials/Metals/BrushedIron_AlbedoTransparency”
“AI2-THOR/Materials/Metals/GenericStainlessSteel”
“AI2-THOR/Materials/Metals/HammeredMetal_AlbedoTransparency 1”
“AI2-THOR/Materials/Metals/Metal”
“AI2-THOR/Materials/Metals/WhiteMetal”
“UnityAssetStore/Baby_Room/Models/Materials/cabinet metal”
Plastic Materials¶
“AI2-THOR/Materials/Plastics/BlackPlastic”
“AI2-THOR/Materials/Plastics/OrangePlastic”
“AI2-THOR/Materials/Plastics/WhitePlastic”
“UnityAssetStore/Kindergarten_Interior/Models/Materials/color 1” (flat red)
“UnityAssetStore/Kindergarten_Interior/Models/Materials/color 2” (flat blue)
“UnityAssetStore/Kindergarten_Interior/Models/Materials/color 3” (flat green)
“UnityAssetStore/Kindergarten_Interior/Models/Materials/color 4” (flat yellow)
Rubber Materials¶
“AI2-THOR/Materials/Plastics/BlueRubber”
“AI2-THOR/Materials/Plastics/LightBlueRubber”
Sofa 1 Materials¶
Specific textures for sofa_1 only.
“AI2-THOR/Materials/Fabrics/Sofa1_Blue”
“AI2-THOR/Materials/Fabrics/Sofa1_Brown”
“AI2-THOR/Materials/Fabrics/Sofa1_Gold”
“AI2-THOR/Materials/Fabrics/Sofa1_Red”
“AI2-THOR/Materials/Fabrics/Sofa1_Salmon”
“AI2-THOR/Materials/Fabrics/Sofa1_White”
Sofa Chair 1 Materials¶
Specific textures for sofa_chair_1 only.
“AI2-THOR/Materials/Fabrics/SofaChair1_Black”
“AI2-THOR/Materials/Fabrics/SofaChair1_Blue”
“AI2-THOR/Materials/Fabrics/SofaChair1_Brown”
“AI2-THOR/Materials/Fabrics/SofaChair1_Red”
“AI2-THOR/Materials/Fabrics/SofaChair1_Salmon”
“AI2-THOR/Materials/Fabrics/SofaChair1_White”
Sofa 2 Materials¶
Specific textures for sofa_2 AND sofa_chair_2 only.
“AI2-THOR/Materials/Fabrics/SofaChair2_Grey”
“AI2-THOR/Materials/Fabrics/SofaChair2_White”
“AI2-THOR/Materials/Fabrics/SofaChair2_Fabric_AlbedoTransparency”
Sofa 3 Materials¶
Specific textures for sofa_3 AND sofa_chair_3 only.
“AI2-THOR/Materials/Fabrics/Sofa3_Blue”
“AI2-THOR/Materials/Fabrics/Sofa3_Blue_Light”
“AI2-THOR/Materials/Fabrics/Sofa3_Brown”
“AI2-THOR/Materials/Fabrics/Sofa3_Brown_Pattern”
“AI2-THOR/Materials/Fabrics/Sofa3_Green_Dark”
“AI2-THOR/Materials/Fabrics/Sofa3_Green_Pattern”
“AI2-THOR/Materials/Fabrics/Sofa3_Red”
“AI2-THOR/Materials/Fabrics/Sofa3_White_Pattern”
Sofa 8 Materials¶
Specific textures for sofa_8 only.
“Assets/Addressables/MCS/UnityAssetStore/Furniture/Source/Materials/3Seat_BaseColor”
“Assets/Addressables/MCS/UnityAssetStore/Furniture/Source/Materials/3SeatDirt_BaseColor”
“Assets/Addressables/MCS/UnityAssetStore/Furniture/Source/Materials/3Seat2_BaseColor”
“Assets/Addressables/MCS/UnityAssetStore/Furniture/Source/Materials/3Seat2D_BaseColor”
Sofa Chair 8 Materials¶
Specific textures for sofa_chair_8 only.
“Assets/Addressables/MCS/UnityAssetStore/Furniture/Source/Materials/fotel2_BaseColor”
“Assets/Addressables/MCS/UnityAssetStore/Furniture/Source/Materials/fotel2D_BaseColor”
Sofa 9 Materials¶
Specific textures for sofa_9 AND sofa_chair_9 only.
“Assets/Addressables/MCS/UnityAssetStore/Furniture/Source/Materials/2Seat_BaseColor”
“Assets/Addressables/MCS/UnityAssetStore/Furniture/Source/Materials/2SeatD_BaseColor”
Sofa THORKEA Materials¶
Specific textures for sofa_4, sofa_5, sofa_6, AND sofa_7 only.
“AI2-THOR/Objects/Physics/SimObjsPhysics/THORKEA Objects/THORKEA_Assets_Furniture/Sofa/Materials/THORKEA_Sofa_Alrid_Fabric_Mat”
“AI2-THOR/Objects/Physics/SimObjsPhysics/THORKEA Objects/THORKEA_Assets_Furniture/Sofa/Materials/THORKEA_Sofa_Ektorp_Fabric_Mat”
“AI2-THOR/Objects/Physics/SimObjsPhysics/THORKEA Objects/THORKEA_Assets_Furniture/Sofa/Materials/THORKEA_Sofa_Kramfors_Fabric_Mat”
“AI2-THOR/Objects/Physics/SimObjsPhysics/THORKEA Objects/THORKEA_Assets_Furniture/Sofa/Materials/THORKEA_Sofa_Solsta_Fabric_Mat”
“AI2-THOR/Objects/Physics/SimObjsPhysics/THORKEA Objects/THORKEA_Assets_Furniture/Sofa/Materials/THORKEA_Sofa_Vreta_Fabric_Mat”
Tool Materials¶
“UnityAssetStore/YughuesFreeMetalMaterials/Materials/M_YFMM_11” (black)
“UnityAssetStore/YughuesFreeMetalMaterials/Materials/M_YFMM_13” (grey, default)
“UnityAssetStore/YughuesFreeMetalMaterials/Materials/M_YFMM_15” (brown)
“UnityAssetStore/YughuesFreeMetalMaterials/Materials/M_YFMM_23” (grey)
“UnityAssetStore/YughuesFreeMetalMaterials/Materials/M_YFMM_34” (pink)
“UnityAssetStore/YughuesFreeMetalMaterials/Materials/M_YFMM_36” (green)
“UnityAssetStore/YughuesFreeMetalMaterials/Materials/M_YFMM_40” (blue)
“UnityAssetStore/YughuesFreeMetalMaterials/Materials/M_YFMM_42” (brown)
Wall Materials¶
“AI2-THOR/Materials/Walls/BrownDrywall”
“AI2-THOR/Materials/Walls/Drywall”
“AI2-THOR/Materials/Walls/DrywallBeige”
“AI2-THOR/Materials/Walls/DrywallGreen”
“AI2-THOR/Materials/Walls/DrywallOrange”
“AI2-THOR/Materials/Walls/Drywall4Tiled”
“AI2-THOR/Materials/Walls/EggshellDrywall”
“AI2-THOR/Materials/Walls/RedDrywall”
“AI2-THOR/Materials/Walls/WallDrywallGrey”
“AI2-THOR/Materials/Walls/YellowDrywall”
“Custom/Materials/AzureDrywallMCS”
“Custom/Materials/BlackDrywallMCS”
“Custom/Materials/BlueDrywallMCS”
“Custom/Materials/BrownDrywallMCS”
“Custom/Materials/ChartreuseDrywallMCS”
“Custom/Materials/CreamDrywallMCS”
“Custom/Materials/CyanDrywallMCS”
“Custom/Materials/DarkGreyDrywallMCS”
“Custom/Materials/GoldenrodDrywallMCS”
“Custom/Materials/GreenDrywallMCS”
“Custom/Materials/GreyDrywallMCS”
“Custom/Materials/IndigoDrywallMCS”
“Custom/Materials/LimeDrywallMCS”
“Custom/Materials/MagentaDrywallMCS”
“Custom/Materials/MaroonDrywallMCS”
“Custom/Materials/NavyDrywallMCS”
“Custom/Materials/OliveDrywallMCS”
“Custom/Materials/OrangeDrywallMCS”
“Custom/Materials/PinkDrywallMCS”
“Custom/Materials/PurpleDrywallMCS”
“Custom/Materials/RedDrywallMCS”
“Custom/Materials/RoseDrywallMCS”
“Custom/Materials/SpringGreenDrywallMCS”
“Custom/Materials/TanDrywallMCS”
“Custom/Materials/TealDrywallMCS”
“Custom/Materials/VioletDrywallMCS”
“Custom/Materials/WhiteDrywallMCS”
“Custom/Materials/YellowDrywallMCS”
Wood Materials¶
“AI2-THOR/Materials/Wood/BlackWood”
“AI2-THOR/Materials/Wood/BedroomFloor1”
“AI2-THOR/Materials/Wood/DarkWood2”
“AI2-THOR/Materials/Wood/DarkWoodSmooth2”
“AI2-THOR/Materials/Wood/LightWoodCounters 1”
“AI2-THOR/Materials/Wood/LightWoodCounters3”
“AI2-THOR/Materials/Wood/LightWoodCounters4”
“AI2-THOR/Materials/Wood/TexturesCom_WoodFine0050_1_seamless_S”
“AI2-THOR/Materials/Wood/WhiteWood”
“AI2-THOR/Materials/Wood/WoodFloorsCross”
“AI2-THOR/Materials/Wood/WoodGrain_Brown”
“AI2-THOR/Materials/Wood/WoodGrain_Tan”
“AI2-THOR/Materials/Wood/WornWood”
“Custom/Materials/AzureWoodMCS”
“Custom/Materials/BlackWoodMCS”
“Custom/Materials/BlueWoodMCS”
“Custom/Materials/BrownWoodMCS”
“Custom/Materials/ChartreuseWoodMCS”
“Custom/Materials/CreamWoodMCS”
“Custom/Materials/CyanWoodMCS”
“Custom/Materials/DarkGreyWoodMCS”
“Custom/Materials/GoldenrodWoodMCS”
“Custom/Materials/GreenWoodMCS”
“Custom/Materials/GreyWoodMCS”
“Custom/Materials/IndigoWoodMCS”
“Custom/Materials/LimeWoodMCS”
“Custom/Materials/MagentaWoodMCS”
“Custom/Materials/MaroonWoodMCS”
“Custom/Materials/NavyWoodMCS”
“Custom/Materials/OliveWoodMCS”
“Custom/Materials/OrangeWoodMCS”
“Custom/Materials/PinkWoodMCS”
“Custom/Materials/PurpleWoodMCS”
“Custom/Materials/RedWoodMCS”
“Custom/Materials/RoseWoodMCS”
“Custom/Materials/SpringGreenWoodMCS”
“Custom/Materials/TanWoodMCS”
“Custom/Materials/TealWoodMCS”
“Custom/Materials/VioletWoodMCS”
“Custom/Materials/WhiteWoodMCS”
“Custom/Materials/YellowWoodMCS”
“UnityAssetStore/Baby_Room/Models/Materials/wood 1”
“UnityAssetStore/Kindergarten_Interior/Models/Materials/color wood 1” (blue)
“UnityAssetStore/Kindergarten_Interior/Models/Materials/color wood 2” (red)
“UnityAssetStore/Kindergarten_Interior/Models/Materials/color wood 3” (green)
“UnityAssetStore/Kindergarten_Interior/Models/Materials/color wood 4” (yellow)
Agent Settings¶
All options are inclusive. Please note that some options may be restricted to female or male.
Chest Options¶
Chest Option (Female 1-4) |
Chest Option (Male 1-4) |
Description |
|---|---|---|
0 |
Long dress (ignores legs) |
|
1 |
Tank top |
|
2 |
0 |
Long-sleeve formal button-down shirt (permits tie) |
3 |
1 |
Short-sleeve formal button-down shirt (permits tie) |
4 |
2 |
Long-sleeve casual button-down shirt |
5 |
3 |
Short-sleeve casual button-down shirt |
6 |
4 |
High-neck no-button shirt |
7 |
5 |
Long-sleeve no-button shirt |
8 |
6 |
Short-sleeve no-button shirt |
Chest Option (Female 5-8) |
Chest Option (Male 5-8) |
Description |
|---|---|---|
0 |
Sleeveless dress (ignores legs) |
|
1 |
Short-sleeve dress (ignores legs) |
|
2 |
Long-sleeve dress (ignores legs) |
|
3 |
0 |
Sweater |
4 |
Tank top |
|
5 |
1 |
Short-sleeve t-shirt |
6 |
2 |
Long-sleeve t-shirt |
7 |
4 |
Sleeveless t-shirt |
8 |
Sleeveless crop top |
|
9 |
Short-sleeve crop top |
|
10 |
Long-sleeve crop top |
|
3 |
Long-sleeve turtleneck |
|
5 |
Short-sleeve tucked-in t-shirt |
|
6 |
Long-sleeve tucked-in t-shirt |
|
7 |
Sleeveless tucked-in t-shirt |
Chest Material Options¶
Chest Option |
Material Options (Female 1-4) |
Material Options (Male 1-4) |
|---|---|---|
Dress or tank top |
0 to 13 |
|
Formal button-down shirt |
0 to 10 |
0 to 9 |
Casual button-down shirt |
0 to 11 |
0 to 10 |
Other shirts |
0 to 14 |
0 to 11 |
Chest Option |
Material Options (Male and Female 5-8) |
|---|---|
Sweaters |
0 to 11 |
All other shirts and dresses |
0 to 15 |
Eye Options¶
Eye Options |
|---|
0 to 3 |
Feet Options¶
Feet Option (Female 1-4) |
Feet Option (Male 1-4) |
Description |
|---|---|---|
0 |
0 |
Formal shoe |
1 |
1 |
Sports shoe |
2 |
Formal shoe with heel |
Feet Option (Female 5-8) |
Feet Option (Male 5-8) |
Description |
|---|---|---|
0 |
0 |
Shoes with white laces |
1 |
1 |
Shoes with black laces |
2 |
2 |
Small boots |
3 |
3 |
Large boots |
Feet Material Options¶
Feet Option |
Material Options |
|---|---|
Sports shoe |
0 to 9 |
Formal shoe with heel |
0 to 10 |
All other shoes |
0 to 11 |
Glasses Options¶
Glasses Options (Male and Female 1-4) |
Glasses Options (Male and Female 5-8) |
|---|---|
0 to 10 |
0 to 8 |
Hair Options¶
Hair Material Options (Male and Female 1-4) |
Hair Material Options (Male and Female 5-8) |
Hat? |
|---|---|---|
0 to 6 |
0 to 4 |
No |
7 to 9 |
5 to 6 |
Yes |
Hair Material Options¶
Hair Options (Male and Female 1-4) |
Hair Material Options |
|---|---|
0 to 9, excluding 5 |
0 (yellow), 1 (brown), 2 (black), or 3 (white) |
5 |
0 (brown) |
Hair Options |
Hair Material Options (Female 5-8) |
Hair Material Options (Male 5-8) |
|---|---|---|
0 |
0 (yellow), 1 (brown), 2 (black), or 3 (red) |
0 (yellow), 1 (brown), 2 (black), or 3 (yellow highlights) |
1 |
0 (yellow), 1 (brown), 2 (black), or 3 (yellow highlights) |
0 (yellow), 1 (brown), 2 (black), or 3 (blue) |
2 |
0 (yellow), 1 (brown), 2 (black), or 3 (green) |
0 (yellow), 1 (brown), 2 (black), or 3 (green) |
3 |
0 (yellow), 1 (brown), 2 (black), or 3 (yellow highlights) |
0 (yellow), 1 (brown), or 2 (black) |
4 |
0 (yellow), 1 (orange), 2 (black), or 3 (red and purple) |
0 (yellow), 1 (orange), 2 (black), or 3 (yellow and pink) |
5 |
0 (yellow), 1 (orange), 2 (black), or 3 (red and purple) |
0 (yellow), 1 (brown), or 2 (black) |
6 |
0 (yellow), 1 (brown), 2 (black), or 3 (yellow highlights) |
None |
Hat Material Options¶
Hair Option (Male and Female 1-4) |
Hair Option (Male and Female 5-8) |
Hat Material Options |
|---|---|---|
7 |
0 to 11 |
|
8 |
0 to 11 |
|
9 |
0 to 5 |
|
5 |
0 to 11 |
|
6 |
0 to 11 |
Legs Options¶
Legs Option (Female 1-4) |
Legs Option (Male 1-4) |
Description |
|---|---|---|
0 |
Leggings |
|
1 |
0 |
Long pants |
2 |
1 |
Short pants |
3 |
Skirt |
Legs Option (Female 5-8) |
Legs Option (Male 5-8) |
Description |
|---|---|---|
0 |
1 |
Skinny pants |
1 |
3 |
Baggy pants |
2 |
0 |
Skinny pants, cuffed |
3 |
2 |
Baggy pants, cuffed |
4 |
Skinny pants, high waist |
|
5 |
Baggy pants, high waist |
|
6 |
4 |
Short shorts |
7 |
5 |
Short shorts, cuffed |
8 |
6 |
Long shorts |
9 |
Skirt |
Legs Material Options¶
Legs Option |
Material Options |
|---|---|
Leggings and pants (Male and Female 1-4) |
0 to 14 |
Skirt (Female 1-4) |
0 to 13 |
All options (Male and Female 5-8) |
0 to 23 |
Skin Options¶
Skin Option (Female 1-4) |
Skin Option (Male 1-8 and Female 5-8) |
Description |
|---|---|---|
0 |
0 |
Medium-light tone |
1 |
1 |
Darkest tone |
2 |
2 |
Medium-dark tone |
3 |
3 |
Dark tone |
12 |
4 |
Lightest tone |
13 |
5 |
Light tone |
4 |
Medium-light tone, with makeup |
|
5 |
Darkest tone, with makeup |
|
6 |
Medium-dark tone, with makeup |
|
7 |
Dark tone, with makeup |
|
8 |
Medium-light tone, with makeup |
|
9 |
Darkest tone, with makeup |
|
10 |
Medium-dark tone, with makeup |
|
11 |
Dark tone, with makeup |
Tie Options¶
Tie Option |
Description |
|---|---|
0 |
Bowtie |
1 |
Long tie |
2 |
Short tie |
Tie Material Options¶
Tie Material Options |
|---|
0 to 9 |
Agent Actions¶
Unrestricted Animations¶
amazed
angry
disgust
happy
sad
Point_start
Point_hold
Point_start_index_finger
Point_hold_index_finger
Elder Animations¶
TPE_clap
TPE_cry
TPE_freefall
TPE_freeze
TPE_hitbackwards
TPE_hitforward
TPE_idle1
TPE_idle2
TPE_idle3
TPE_idle4
TPE_idle5
TPE_idleafraid
TPE_idleangry
TPE_idlehappy
TPE_idlesad
TPE_jump
TPE_land
TPE_laugh
TPE_lookback
TPE_phone1
TPE_phone2
TPE_run
TPE_runbackwards
TPE_runIN
TPE_runjumpFLY
TPE_runjumpIN
TPE_runjumpOUT
TPE_runL
TPE_runOUT
TPE_runR
TPE_scream
TPE_sitdownIN
TPE_sitdownOUT
TPE_sitidle1
TPE_sitidle2
TPE_sitphone1
TPE_sitphone2
TPE_stairsDOWN
TPE_stairsUP
TPE_strafeL
TPE_strafeR
TPE_talk1
TPE_talk2
TPE_telloff
TPE_turnL45
TPE_turnL90
TPE_turnR45
TPE_turnR90
TPE_walk
TPE_walkbackwards
TPE_wave
Female Animations¶
TPF_brake
TPF_clap
TPF_cry
TPF_fallbackwardsFLY
TPF_fallbackwardsIN
TPF_fallbackwardsOUT
TPF_fallforwardFLY
TPF_fallforwardIN
TPF_fallforwardOUT
TPF_freefall
TPF_freeze
TPF_hitbackwards
TPF_hitforward
TPF_idle1
TPF_idle2
TPF_idle3
TPF_idle4
TPF_idle5
TPF_idleafraid
TPF_idleangry
TPF_idlehappy
TPF_idlesad
TPF_jump
TPF_land
TPF_laugh
TPF_lookback
TPF_phone1
TPF_phone2
TPF_run
TPF_runbackwards
TPF_runIN
TPF_runjumpFLY
TPF_runjumpIN
TPF_runjumpOUT
TPF_runL
TPF_runOUT
TPF_runR
TPF_runstrafeL
TPF_runstrafeR
TPF_scream
TPF_sitdownIN
TPF_sitdownOUT
TPF_sitidle1
TPF_sitidle2
TPF_sitphone1
TPF_sitphone2
TPF_stairsDOWN
TPF_stairsUP
TPF_static
TPF_strafeL
TPF_strafeR
TPF_talk1
TPF_talk2
TPF_telloff
TPF_turnL45
TPF_turnL90
TPF_turnR45
TPF_turnR90
TPF_walk
TPF_walkbackwards
TPF_wave
Male Animations¶
TPM_brake
TPM_clap
TPM_cry
TPM_fallbackwardsFLY
TPM_fallbackwardsIN
TPM_fallbackwardsOUT
TPM_fallforwardFLY
TPM_fallforwardIN
TPM_fallforwardOUT
TPM_freefall
TPM_freeze
TPM_hitbackwards
TPM_hitforward
TPM_idle1
TPM_idle2
TPM_idle3
TPM_idle4
TPM_idle5
TPM_idleafraid
TPM_idleangry
TPM_idlehappy
TPM_idlesad
TPM_jump
TPM_land
TPM_laugh
TPM_lookback
TPM_phone1
TPM_phone2
TPM_run
TPM_runbackwards
TPM_runIN
TPM_runjumpFLY
TPM_runjumpIN
TPM_runjumpOUT
TPM_runL
TPM_runOUT
TPM_runR
TPM_runstrafeL
TPM_runstrafeR
TPM_scream
TPM_sitdownIN
TPM_sitdownOUT
TPM_sitidle1
TPM_sitidle2
TPM_sitphone1
TPM_sitphone2
TPM_stairsDOWN
TPM_stairsUP
TPM_static
TPM_strafeL
TPM_strafeR
TPM_talk1
TPM_talk2
TPM_telloff
TPM_turnL45
TPM_turnL90
TPM_turnR45
TPM_turnR90
TPM_walk
TPM_walkbackwards
TPM_wave