Below is a list of each receptacle and the corresponding list of objects that can be placed inside the receptacle using the PutObject action. If an attempt to put an incompatible object in a receptacle is made, the action will fail by default.
Note: If forceAction = true is passed into the PutObject action, the restrictions in the table below are ignored.
Note you can also attempt to place objects on receptacles manually using a combination of picking up, moving, and dropping objects using the PickupObject, MoveHand, DropObject actions in sequence. This will allow for more accurate placement using physics and gravity to resolve if an object falls onto a receptacle, but is not determanistic. Using PutObject is determanistic but will be less accurate than allowing full physics resolution.
| Receptacle | Object Types |
|---|---|
| Pot | Apple, ButterKnife, DishSponge, Egg, Fork, Knife, Ladle, Lettuce, Potato, Spatula, Spoon, Tomato |
| Pan | Apple, ButterKnife, DishSponge, Egg, Fork, Knife, Ladle, Lettuce, Potato, Spatula, Spoon, Tomato |
| Bowl | Apple, ButterKnife, DishSponge, Egg, Fork, Knife, Ladle, Lettuce, Potato, Spatula, Spoon, Tomato |
| CoffeeMachine | Mug |
| Microwave | Apple, Bowl, Bread, Cup, Egg, Mug, Plate, Potato, Tomato |
| StoveBurner | Kettle, Pan, Pot |
| Fridge | Apple, Bottle, Bowl, Bread, Cup, Egg, Lettuce, Mug, Pan, Plate, Pot, Potato, Tomato, WineBottle |
| Mug | ButterKnife, Fork, Knife, Pen, Pencil, Spoon |
| Plate | Apple, ButterKnife, DishSponge, Egg, Fork, Knife, Ladle, Lettuce, Mug, Potato, Spatula, Spoon, Tomato |
| Cup | ButterKnife, Fork, Spoon |
| Sofa | BasketBall, Book, Box, CellPhone, Cloth, CreditCard, KeyChain, Laptop, Newspaper, Pillow, RemoteControl, TeddyBear |
| ArmChair | BasketBall, Book, Box, CellPhone, Cloth, CreditCard, KeyChain, Laptop, Newspaper, Pillow, RemoteControl, TeddyBear |
| Box | AlarmClock, Book, Bottle, Candle, CD, CellPhone, Cloth, CreditCard, DishSponge, KeyChain, Mug, PaperTowel, Pen, Pencil, RemoteControl, Statue, TissueBox, Vase, Watch |
| Ottoman | BasketBall, Book, Box, CellPhone, Cloth, CreditCard, KeyChain, Laptop, Newspaper, Pillow, RemoteControl, TeddyBear |
| Dresser | AlarmClock, BasketBall, Book, Bottle, Bowl, Box, Candle, CD, CellPhone, Cloth, CreditCard, Cup, KeyChain, Laptop, Mug, Newspaper, Pen, Pencil, Plate, RemoteControl, SoapBottle, SprayBottle, Statue, TeddyBear, TennisRacket, TissueBox, ToiletPaper, ToiletPaperRoll, Vase, Watch, WateringCan, WineBottle |
| LaundryHamper | Cloth |
| Desk | AlarmClock, BasketBall, Book, Bottle, Bowl, Box, Candle, CD, CellPhone, Cloth, CreditCard, Cup, KeyChain, Laptop, Mug, Newspaper, Pen, Pencil, Plate, RemoteControl, SoapBottle, SprayBottle, Statue, TeddyBear, TennisRacket, TissueBox, ToiletPaper, ToiletPaperRoll, Vase, Watch, WateringCan, WineBottle |
| SideTable | AlarmClock, BasketBall, Book, Bottle, Bowl, Box, Candle, CD, CellPhone, Cloth, CreditCard, Cup, KeyChain, Laptop, Mug, Newspaper, Pen, Pencil, Plate, RemoteControl, SoapBottle, SprayBottle, Statue, TeddyBear, TennisRacket, TissueBox, ToiletPaper, ToiletPaperRoll, Vase, Watch, WateringCan, WineBottle |
| Bed | BaseballBat, BasketBall, Book, CellPhone, Laptop, Newspaper, Pillow, TeddyBear, TennisRacket |
| Toilet | Candle, Cloth, DishSponge, Newspaper, PaperTowel, SoapBar, SoapBottle, SprayBottle, TissueBox, ToiletPaper, ToiletPaperRoll |
| ToiletPaperHanger | ToiletPaper, ToiletPaperRoll |
| TowelHolder | Towel |
| HandTowelHolder | HandTowel |
| Cart | Candle, Cloth, DishSponge, Mug, PaperTowel, Plunger, SoapBar, SoapBottle, SprayBottle, Statue, TissueBox, ToiletPaper, ToiletPaperRoll, Vase |
| Bathtub | Cloth, DishSponge, SoapBar |
| BathtubBasin | Cloth, DishSponge, SoapBar |
| Sink | Apple, Bottle, Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Lettuce, Mug, Pan, Plate, Pot, Potato, SoapBar, SoapBottle, Spatula, Spoon, Tomato |
| SinkBasin | Apple, Bottle, Bowl, ButterKnife, Cloth, Cup, DishSponge, Egg, Fork, Kettle, Knife, Ladle, Lettuce, Mug, Pan, Plate, Pot, Potato, SoapBar, Spatula, Spoon, Tomato |
| Cabinet | Book, Bottle, Bowl, Box, Candle, CD, Cloth, Cup, DishSponge, Kettle, Ladle, Mug, Newspaper, Pan, PepperShaker, Plate, Plunger, Pot, SaltShaker, SoapBar, SoapBottle, SprayBottle, TissueBox, ToiletPaper, ToiletPaperRoll, Vase, WateringCan, WineBottle |
| Dining Table | AlarmClock, Apple, BaseballBat, BasketBall, Book, Bottle, Bowl, Box, Bread, ButterKnife, Candle, CD, CellPhone, Cloth, CreditCard, Cup, DishSponge, Egg, Fork, Kettle, KeyChain, Knife, Ladle, Laptop, Lettuce, Mug, Newspaper, Pan, PaperTowel, Pen, Pencil, PepperShaker, Plate, Pot, Potato, RemoteControl, SaltShaker, SoapBar, SoapBottle, Spatula, Spoon, SprayBottle, Statue, TeddyBear, TennisRacket, TissueBox, ToiletPaper, ToiletPaperRoll, Tomato, Vase, Watch, WateringCan, WineBottle |
| CoffeeTable | AlarmClock, Apple, BaseballBat, BasketBall, Book, Bottle, Bowl, Box, Bread, ButterKnife, Candle, CD, CellPhone, Cloth, CreditCard, Cup, DishSponge, Egg, Fork, Kettle, KeyChain, Knife, Ladle, Laptop, Lettuce, Mug, Newspaper, Pan, PaperTowel, Pen, Pencil, PepperShaker, Plate, Pot, Potato, RemoteControl, SaltShaker, SoapBar, SoapBottle, Spatula, Spoon, SprayBottle, Statue, TeddyBear, TennisRacket, TissueBox, ToiletPaper, ToiletPaperRoll, Tomato, Vase, Watch, WateringCan, WineBottle |
| TVStand | AlarmClock, Apple, BaseballBat, BasketBall, Book, Bottle, Bowl, Box, Bread, ButterKnife, Candle, CD, CellPhone, Cloth, CreditCard, Cup, DishSponge, Egg, Fork, Kettle, KeyChain, Knife, Ladle, Laptop, Lettuce, Mug, Newspaper, Pan, PaperTowel, Pen, Pencil, PepperShaker, Plate, Pot, Potato, RemoteControl, SaltShaker, SoapBar, SoapBottle, Spatula, Spoon, SprayBottle, Statue, TeddyBear, TennisRacket, TissueBox, ToiletPaper, ToiletPaperRoll, Tomato, Vase, Watch, WateringCan, WineBottle |
| CounterTop | AlarmClock, Apple, BaseballBat, BasketBall, Book, Bottle, Bowl, Box, Bread, ButterKnife, Candle, CD, CellPhone, Cloth, CreditCard, Cup, DishSponge, Egg, Fork, Kettle, KeyChain, Knife, Ladle, Laptop, Lettuce, Mug, Newspaper, Pan, PaperTowel, Pen, Pencil, PepperShaker, Plate, Pot, Potato, RemoteControl, SaltShaker, SoapBar, SoapBottle, Spatula, Spoon, SprayBottle, Statue, TeddyBear, TennisRacket, TissueBox, ToiletPaper, ToiletPaperRoll, Tomato, Vase, Watch, WateringCan, WineBottle |
| Shelf | AlarmClock, Book, Bottle, Bowl, Box, Candle, CD, CellPhone, Cloth, CreditCard, Cup, DishSponge, Kettle, KeyChain, Mug, Newspaper, PaperTowel, Pen, Pencil, PepperShaker, Plate, Pot,RemoteControl, SaltShaker, SoapBar, SoapBottle, SprayBottle, Statue, TissueBox, ToiletPaper, ToiletPaperRoll, Vase, Watch, WateringCan, WineBottle |
| Drawer | Book, ButterKnife, Candle, CD, CellPhone, Cloth, CreditCard, DishSponge, Fork, KeyChain, Knife, Ladle, Newspaper, Pen, Pencil, PepperShaker, RemoteControl, SaltShaker, SoapBar, SoapBottle, Spatula, Spoon, SprayBottle, TissueBox, ToiletPaper, ToiletPaperRoll, Watch, WateringCan |
| GarbageCan | Apple, Bottle, Bread, CD, Cloth, DishSponge, Egg, Lettuce, Newspaper, PaperTowel, Pen, Pencil, Potato, SoapBar, SoapBottle, SprayBottle, TissueBox, ToiletPaper, ToiletPaperRoll, Tomato, WineBottle |
| Safe | CD, CellPhone, CreditCard, KeyChain, Statue, TeddyBear, Vase, Watch |
Continue on to the Actions.