This documentation reflects AI2-THOR version 2.1.0. For the latest AI2-THOR documentation, visit ai2thor.allenai.org.

Actionable Properties

Below are Actionable Properties that object types can have. All Properties below have an associated Action that can be called on the Object (ie: If an object type is Openable, the OpenObject and CloseObjectactions can be used on the object type.)

  • Openable - These objects can be opened or closed using the OpenObject and CloseObject actions. Receptacles that are Openable allow for objects to be placed inside them.
  • Pickupable - These objects are able to be picked up or put down into Receptacles by the Agent using the PickupObject and PutObject actions. Picked up objects can also be dropped using DropHandObject which will remove the object from the Agent’s hand without needing a target receptacle. Throw is an extension of dropping an object, where an additional force is added to throw object about the scene. Pickupable objects can also be shoved around using the Push and Pull actions. Some Receptacle objects are also pickupable. Any objects placed inside a pickupable receptacle are moved all at once, so complex sequences like (Put Apple on Plate -> Move Plate with Apple to Sink) are possible.
  • On/Off - Interact with these objects using the ToggleObjectOn and ToggleObjectOff actions. All On/Off objects have a visible state change that occurs when toggled on or off (ie: laptop screen will be on with an image or blank when off).
  • Receptacle - These objects are classified as Receptacles, meaning that other objects can be placed on or in them if the other object can physically fit the Receptacle. Some receptacles are restricted specific objects (ie:ToiletPaper is the only type that can go on a ToiletPaperHanger). Note that any Receptacles that are also Pickupable can be moved about the scene with any Sim Objects they actively contain.
  • Fillable - These objects can be filled with various liquids using the FillObjectWithLiquid action. Fillable objects can be filled with Water, Coffee, or Wine. Some fill interactions are context sensative, like placing a mug in a Coffee Maker object that is turned On will automatically fill the mug with coffee. If an object is Filled with one of the liquid types and is rotated greater than 90 degrees from the global upward axis, the object will automatically empty itself because the liquid has “spilled.”
  • Sliceable - These objects can be sliced into smaller pieces using the SliceObject action. This destroys the source object and spawns in multiple “sliced” pieces of the source object in the exact same location. This is a one-way state change, so only a scene reset will revert sliced objects to their whole versions. Sliced objects will still report metadata information even after being destroyed. This allows you to check the last position the source object was before the Slice action finished.
  • Cookable - These objects have a cooked state that can be switched to with the CookObject action. This is a one-way state change, so only a scene reset will revert cooked objects back to their uncooked state.
  • Breakable - These objects have a broken state that can be switched to with the BreakObject action. This is a one-way state change, so only a scene reset will revert broken objects to their unbroken state. Breakable objects also break automatically if they collide with a high enough force. This force threshold is different between objects because some objects are more fragile than others.
  • Dirty - These objects have a Clean and Dirty state that can be toggled between using the DirtyObject action. This includes objects like Mugs that can have grime on them, or a Bed that has the covers messy or made. Certain Dirty objects can contextually be switched to their clean state if they are moved under running water. (Dirty bowl moved under a Faucet that is on will clean the bowl automatically).
  • UsedUp - These objects can have parts of themselves used up with the UseUp action. This is a one-way interaction and can not be reversed unless the scene is reset. This can change the overall look of the object to show that its contents have been “Used Up.” Toilet Paper, Tissue Boxes, and Paper Towels are examples of objects that when Used Up, change form in some way.

Table Key:

  • YES - This object type has this property
  • no - This object type does not have this property
  • Sometimes - Some objects within this type category have this property, but not all are guaranteed to have it. (ie: Bowls can be Plastic, Glass, or Ceramic. Only Glass and Ceramic Bowls can Break).
Object Type Openable Pickupable On/Off Receptacle Fillable Sliceable Cookable Breakable Dirty UsedUp
AlarmClock no YES no no no no no no no no
Apple no YES no no no YES no no no no
AppleSliced no YES no no no no no no no no
ArmChair no no no YES no no no no no no
BaseballBat no YES no no no no no no no no
BasketBall no YES no no no no no no no no
Bathtub no no no Sometimes no no no no no no
BathtubBasin no no no YES no no no no no no
Bed no no no YES no no no no YES no
Blinds YES no no no no no no no no no
Book YES YES no no no no no no no no
Boots no YES no no no no no no no no
Bottle no YES no no YES no no YES no no
Bowl no YES no YES YES no no Sometimes YES no
Box YES YES no YES no no no no no no
Bread no YES no no no YES no no no no
BreadSliced no YES no no no no YES no no no
ButterKnife no YES no no no no no no no no
Cabinet YES no no YES no no no no no no
Candle no YES YES no no no no no no no
Cart no no no YES no no no no no no
CD no YES no no no no no no no no
CellPhone no YES YES no no no no YES no no
Chair no no no no no no no no no no
Cloth no YES no no no no no no YES no
CoffeeMachine no no YES YES no no no no no no
CoffeeTable no no no YES no no no no no no
CounterTop no no no YES no no no no no no
CreditCard no YES no no no no no no no no
Cup no YES no YES YES no no Sometimes YES no
Curtains no no no no no no no no no no
Desk no no no YES no no no no no no
DeskLamp no no YES no no no no no no no
DiningTable no no no YES no no no no no no
DishSponge no YES no no no no no no no no
Drawer YES no no YES no no no no no no
Dresser no no no YES no no no no no no
Egg no YES no no no YES no YES no no
EggCracked no YES no no no no YES no no no
Faucet no no YES no no no no no no no
FloorLamp no no YES no no no no no no no
Footstool no no no no no no no no no no
Fork no YES no no no no no no no no
Fridge YES no no YES no no no no no no
GarbageCan no no no YES no no no no no no
HandTowel no YES no no no no no no no no
HandTowelHolder no no no YES no no no no no no
HousePlant no no no no YES no no no no no
Kettle YES YES no no YES no no no no no
KeyChain no YES no no no no no no no no
Knife no YES no no no no no no no no
Ladle no YES no no no no no no no no
Laptop YES YES YES no no no no YES no no
LaundryHamper no no no YES no no no no no no
LaundryHamperLid YES no no no no no no no no no
Lettuce no YES no no no YES no no no no
LettuceSliced no YES no no no no no no no no
LightSwitch no no YES no no no no no no no
Microwave YES no YES YES no no no no no no
Mirror no no no no no no no YES YES no
Mug no YES no YES YES no no YES YES no
Newspaper no YES no no no no no no no no
Ottoman no no no YES no no no no no no
Painting no no no no no no no no no no
Pan no YES no YES no no no no YES no
PaperTowel no YES no no no no no no no YES
Pen no YES no no no no no no no no
Pencil no YES no no no no no no no no
PepperShaker no YES no no no no no no no no
Pillow no YES no no no no no no no no
Plate no YES no YES no no no Sometimes YES no
Plunger no YES no no no no no no no no
Poster no no no no no no no no no no
Pot no YES no YES YES no no no YES no
Potato no YES no no no YES YES no no no
PotatoSliced no YES no no no no YES no no no
RemoteControl no YES no no no no no no no no
Safe YES no no YES no no no no no no
SaltShaker no YES no no no no no no no no
ScrubBrush no YES no no no no no no no no
Shelf no no no YES no no no no no no
ShowerCurtain YES no no no no no no no no no
ShowerDoor YES no no no no no no YES no no
ShowerGlass no no no no no no no YES no no
ShowerHead no no YES no no no no no no no
SideTable no no no YES no no no no no no
Sink no no no Sometimes no no no no no no
SinkBasin no no no YES no no no no no no
SoapBar no YES no no no no no no no no
SoapBottle no YES no no no no no no no YES
Sofa no no no YES no no no no no no
Spatula no YES no no no no no no no no
Spoon no YES no no no no no no no no
SprayBottle no YES no no no no no no no no
Statue no YES no no no no no YES no no
StoveBurner no no YES YES no no no no no no
StoveKnob no no YES no no no no no no no
TeddyBear no YES no no no no no no no no
Television no no YES no no no no YES no no
TennisRacket no YES no no no no no no no no
TissueBox no YES no no no no no no no YES
Toaster no no YES YES no no no no no no
Toilet no no no YES no no no no no no
ToiletPaper no YES no no no no no no no YES
ToiletPaperHanger no no no YES no no no no no no
Tomato no YES no no no YES no no no no
TomatoSliced no YES no no no no no no no no
Towel no YES no no no no no no no no
TowelHolder no no no YES no no no no no no
TVStand no no no YES no no no no no no
Vase no YES no no no no no YES no no
Watch no YES no no no no no no no no
WateringCan no YES no no YES no no no no no
Window no no no no no no no YES no no
WineBottle no YES no no YES no no YES no no

Next Steps

Continue on to the Material Properties documentation for additional Object Property information.