# arena_documentation

## 1. Arena assets

1.1 Objects
The list of assets/objects in Arena environment is listed in the table below.

| Object Name | Readable Name | Object Properties
--- | --- | --- | ---
1 | ActionFigure | Action Figure | PICKUPABLE
2 | Apple | Apple | PICKUPABLE,EATABLE
3 | AppleSlice_01 | Apple Slice | PICKUPABLE
4 | AP_Bld_Ceiling_Aircon_01 | Vent | DECOR
5 | AP_Bld_Wall_Glass_Large_Door_01 | Glass Doors | DECOR
6 | AP_Item_Tape_01 | Tape | DECOR
7 | AP_Item_Tool_Board | Tool Board | DECOR
8 | AP_Prop_Barrel_Open_01 | Water Barrel | DECOR
9 | AP_Prop_Barrel_Water_01 | Water Barrel | DECOR
10 | AP_Prop_Bin_Rubbish_01 | Trash | DECOR
11 | AP_Prop_Bucket_02 | Trash Can | DECOR
12 | AP_Prop_Cabinets_01 | Cabinet | DECOR
13 | AP_Prop_CardboardBox_Open_05 | Cardboard Box | DECOR
14 | AP_Prop_CardboardBox_Stack_02 | Cardboard Boxes | DECOR
15 | AP_Prop_Cellotape_01 | Tape | DECOR
16 | AP_Prop_CorkBoard_02 | Cork Board | DECOR
17 | AP_Prop_Couch_02 | Couch | DECOR
18 | AP_Prop_Couch_06 | Chair | DECOR
19 | AP_Prop_Desk_Blue | Desk | RECEPTACLE
20 | AP_Prop_Desk_Green | Desk | RECEPTACLE
21 | AP_Prop_Desk_Green_model | Desk | DECOR
22 | AP_Prop_Desk_Red | Desk | RECEPTACLE
23 | AP_Prop_Desk_Red_model | Desk | DECOR
24 | AP_Prop_Desk_Yellow | Desk | RECEPTACLE
25 | AP_Prop_Fire_Extinguisher_01 | Fire Extinguisher | DECOR
26 | AP_Prop_Folder_PVC_02 | Folders | DECOR
27 | AP_Prop_Generator_Large_02 | Generator | DECOR
28 | AP_Prop_Lab_Clamp_02_Arm_01 | Clamp | DECOR
29 | AP_Prop_Lab_MachinePanel_01 | Machine Panel | DECOR
30 | AP_Prop_Lab_MachinePanel_02 | Machine Panel | DECOR
31 | AP_Prop_Lab_Tank_01 | Tank | DECOR
32 | AP_Prop_Lab_Tank_02 | Tank | DECOR
33 | AP_Prop_Minigolf_Ball_01 | Golf Ball | DECOR
34 | AP_Prop_Minigolf_Club_01 | Golf Club | DECOR
35 | AP_Prop_Note_05 | Sticky Notes | DECOR
36 | AP_Prop_PaperTray_01_Full_01 | Paper Tray | DECOR
37 | AP_Prop_Pen_01 | Pen | DECOR
38 | AP_Prop_Pen_03 | Pen | DECOR
39 | AP_Prop_Pen_06 | Pen | DECOR
40 | AP_Prop_Photocopier_01 | Photocopier | DECOR
41 | AP_Prop_Plant_01 | Plant | DECOR
42 | AP_Prop_Plant_09 | Plant | DECOR
43 | AP_Prop_Print_Tube_01 | Print Tube | DECOR
44 | AP_Prop_Safety_Barrier_02 | Wet Floor Sign | DECOR
45 | AP_Prop_Shelf_06 | Shelf | DECOR
46 | AP_Prop_Shelf_Wall_04 | Shelf | RECEPTACLE
47 | AP_Prop_Shelf_Wall_FreezeRay | Blue wall shelf | RECEPTACLE
48 | AP_Prop_Shelf_Wall_Laser | Red wall shelf | RECEPTACLE
49 | AP_Prop_Sign_OutofOrder_01 | Sign | DECOR
50 | AP_Prop_Target_Circle_01 | Target | DECOR
51 | AP_Prop_Whiteboard_Devices_03 | Whiteboard |
52 | AP_Prop_Whiteboard_Devices_04 | Whiteboard |
53 | AP_Prop_Whiteboard_Devices_05 | Whiteboard |
54 | AP_Prop_Whiteboard_Devices_06 | Whiteboard |
55 | AP_Prop_Whiteboard_Devices_07 | Whiteboard |
56 | AP_Prop_Whiteboard_Devices_08 | Whiteboard |
57 | AP_Prop_Whiteboard_Devices_09 | Whiteboard |
58 | AP_Prop_Whiteboard_Devices_10 | Whiteboard |
59 | AP_Prop_Whiteboard_Devices_11 | Whiteboard |
60 | AP_Prop_Whiteboard_Devices_12 | Whiteboard |
61 | AP_Prop_Whiteboard_Devices_13 | Whiteboard |
62 | AP_Prop_Whiteboard_Devices_14 | Whiteboard |
63 | AP_Prop_Whiteboard_Devices_15 | Whiteboard |
64 | AP_Tool_Buffer_01_Battery | Battery | DECOR
65 | BananaBunch_01 | Banana Bunch | PICKUPABLE
66 | Banana_01 | Banana | PICKUPABLE,EATABLE
67 | Bookshelf_Wooden_01 | Bookshelf | RECEPTACLE
68 | Bowl_01 | Bowl | PICKUPABLE,BREAKABLE,HEATABLE,CHILLABLE,FILLABLE,USABLE
69 | BreadLoaf | Loaf of Bread | PICKUPABLE,CUTTABLE
70 | BreadSlice_01 | Bread Slice | PICKUPABLE,EATABLE,COOKABLE
71 | Broken_Cord_01 | Cord | POWERABLE,TOGGLEABLE
72 | Burger_04 | Burger | PICKUPABLE,EATABLE
73 | CableFrayed_01 | Cord | TOGGLEABLE
74 | CakeSlice_02 | Cake Slice | PICKUPABLE
75 | Cake_02 | Cake | PICKUPABLE,CUTTABLE,HEATABLE,CHILLABLE
76 | CandyBar_01 | Candy Bar | PICKUPABLE,OPENABLE,EATABLE
77 | CandyJar_01 | Jar | RECEPTACLE
78 | CanSodaNew_01 | Can | PICKUPABLE,CHILLABLE,HEATABLE
79 | CanSodaNew_Crushed_01 | Can | PICKUPABLE
80 | CanSodaNew_Open_01 | Can | PICKUPABLE,CHILLABLE,HEATABLE
81 | CanSoda_01 | null | PICKUPABLE
82 | Carrot_01 | Carrot | PICKUPABLE,EATABLE
83 | Cereal_Box_01 | Cereal Box | PICKUPABLE
84 | CoffeeBeans_01 | Coffee Beans | PICKUPABLE,FILLABLE
85 | CoffeeCup_Lid_01 | Lid | PICKUPABLE
86 | CoffeeCup_Open_Empty_01 | Cup | PICKUPABLE,RECEPTACLE
87 | CoffeeCup_Open_Empty_02 | Cup | PICKUPABLE,RECEPTACLE
88 | CoffeeMaker_01 | Coffee Maker | TOGGLEABLE,RECEPTACLE,POWERABLE,FILLABLE
89 | CoffeeMug_Boss | Mug | PICKUPABLE,BREAKABLE,FILLABLE,HEATABLE,CHILLABLE,USABLE
90 | CoffeeMug_Yellow | Mug | PICKUPABLE,BREAKABLE,FILLABLE,HEATABLE,CHILLABLE
91 | CoffeePot_01 | Coffee Pot | PICKUPABLE,HEATABLE,FILLABLE,CHILLABLE
92 | CoffeeUnMaker_01 | Coffee Unmaker | TOGGLEABLE,RECEPTACLE,POWERABLE,FILLABLE
93 | ColorChangerStation | Color Changer | RECEPTACLE,USABLE,POWERABLE
94 | ColorChanger_Button_Blue | Blue Button | TOGGLEABLE
95 | ColorChanger_Button_Green | Green Button | TOGGLEABLE
96 | ColorChanger_Button_Red | Red Button | TOGGLEABLE
97 | Computer_Monitor_01 | Computer | RECEPTACLE,POWERABLE,INFECTABLE
98 | Computer_Monitor_Broken | Computer | PICKUPABLE
99 | Computer_Monitor_New | Computer | PICKUPABLE,POWERABLE
100 | CounterBase_03 | Counter | RECEPTACLE
101 | Cutting_Board | Cutting Board | USABLE,RECEPTACLE
102 | Dart | Dart | PICKUPABLE
103 | DartBoard | Dart Board | RECEPTACLE
104 | Deembiggenator_Crates | Boxes |
105 | DeskFan_Broken_01 | Fan | PICKUPABLE
106 | DeskFan_New_01 | Fan | PICKUPABLE
107 | Desk_01 | Table | RECEPTACLE
108 | Donut_01 | Donut | PICKUPABLE,EATABLE
109 | Door_01 | Door | OPENABLE
110 | EAC_Machine | Everything's A Carrot Machine | TOGGLEABLE,RECEPTACLE,POWERABLE
111 | Embiggenator | Embiggenator | POWERABLE,USABLE,TOGGLEABLE,RECEPTACLE
112 | EmptyPaperTray | Tray | RECEPTACLE
113 | FireAlarm_01 | Fire Alarm | TOGGLEABLE
114 | FireExtinguisher_01 | Fire Extinguisher |
115 | Floppy_AntiVirus | Floppy Disk | PICKUPABLE
116 | Floppy_AntiVirus_Broken | Broken AntiVirus Floppy Disk | PICKUPABLE
117 | Floppy_Virus | Floppy Disk | PICKUPABLE,HEATABLE,BREAKABLE
118 | Floppy_Virus_Broken | Broken Virus Floppy Disk | PICKUPABLE
119 | FoodPlate_01 | Plate | PICKUPABLE,BREAKABLE,RECEPTACLE,DIRTYABLE
120 | ForkLift | Forklift | TOGGLEABLE
121 | Fork_01 | Fork | PICKUPABLE
122 | FreezeRay | Freeze Ray | TOGGLEABLE,POWERABLE,USABLE
123 | FridgeLower_02 | Fridge | OPENABLE,RECEPTACLE,POWERABLE
124 | FridgeUpper_02 | Freezer | OPENABLE,RECEPTACLE,POWERABLE
125 | FulllPaperTray_01 | Tray | RECEPTACLE
126 | FuseBox_01 | Fuse Box | OPENABLE,TOGGLEABLE,RECEPTACLE,POWERABLE
127 | FuseBox_01_Lever | Lever | TOGGLEABLE,PICKUPABLE
128 | FuseBox_02 | Fuse Box | TOGGLEABLE,OPENABLE,RECEPTACLE
129 | GravityPad | Gravity Pad | TOGGLEABLE,RECEPTACLE,POWERABLE
130 | Hammer | Hammer | PICKUPABLE
131 | Handsaw | Saw | PICKUPABLE
132 | Jar_Jam_01 | Jelly | PICKUPABLE,EATABLE
133 | Jar_PeanutButter_01 | Peanut Butter | PICKUPABLE
134 | Keyboard | Keyboard | DECOR
135 | KitchenCabinet_01 | Cabinet | OPENABLE,RECEPTACLE
136 | KitchenCabinet_01_Trapped | null | OPENABLE
137 | KitchenCabinet_02 | Cabinet | OPENABLE,RECEPTACLE
138 | KitchenCounter01 | Counter | RECEPTACLE
139 | KitchenCounterBase_02 | Counter | OPENABLE,RECEPTACLE
140 | KitchenCounterBase_03 | Counter | OPENABLE,RECEPTACLE
141 | KitchenCounterDrawer_02 | Drawer | OPENABLE,RECEPTACLE
142 | KitchenCounterDrawer_03 | Drawer | OPENABLE,RECEPTACLE
143 | KitchenCounterSink_01 | Sink | TOGGLEABLE,RECEPTACLE,FILLABLE,OPENABLE
144 | KitchenCounterTop_02 | Counter Top | RECEPTACLE
145 | KitchenStool_01 | Stool |
146 | Knife_01 | Knife | PICKUPABLE
147 | Lab_Terminal | Computer | POWERABLE
148 | Laser | Laser | RECEPTACLE,POWERABLE,USABLE,TOGGLEABLE
149 | LaserBase_toy | Laser Toy | DECOR
150 | Laser_CircuitBoard | Circuit Board | PICKUPABLE
151 | Laser_ControlPanel | Control Panel | PICKUPABLE,USABLE
152 | Laser_Tip | Laser Tip | PICKUPABLE
153 | Laser_Tip_Broken | Broken Laser Tip | PICKUPABLE
154 | LightSwitch_01 | Light Switch | TOGGLEABLE,POWERABLE,USABLE
155 | ManagerDesk | Desk | RECEPTACLE
156 | Manager_Chair | Chair | DECOR
157 | Microwave_01 | Microwave | OPENABLE,RECEPTACLE,POWERABLE,TOGGLEABLE
158 | MilkCarton_01 | Milk | PICKUPABLE,OPENABLE,FILLABLE
159 | MissionItemHolder | null | RECEPTACLE
160 | Office_Chair | Chair | DECOR
161 | PackingBox | Box | RECEPTACLE
162 | PaperCup_01 | Cup | PICKUPABLE
163 | PaperCup_Crushed_01 | Cup | PICKUPABLE
164 | PBJ_Sandwich | Peanut Butter and Jelly Sandwich | PICKUPABLE
165 | Pear_01 | Pear | PICKUPABLE,EATABLE
166 | PieFruitSlice_01 | Pie Slice | PICKUPABLE,EATABLE
167 | PieFruit_01 | Pie | PICKUPABLE,CUTTABLE
168 | PinBoard_01 | Board |
169 | PinBoard_02 | Board |
170 | PortalGenerator | Generator | POWERABLE
171 | PowerOutlet_01 | Outlet |
172 | Printer_3D | Printer | RECEPTACLE,POWERABLE,TOGGLEABLE
173 | Printer_Cartridge | Printer Cartridge | PICKUPABLE
174 | Printer_Cartridge_Figure | Figure Print Cartridge | PICKUPABLE
175 | Printer_Cartridge_Hammer | Hammer Print Cartridge | PICKUPABLE
176 | Printer_Cartridge_Lever | Lever Print Cartridge | PICKUPABLE
177 | Printer_Cartridge_Mug | Mug Printer Cartridge | PICKUPABLE
178 | Radio_01 | Radio | PICKUPABLE,TOGGLEABLE
179 | Radio_01_Broken | Broken Radio | PICKUPABLE
180 | ReceptionDesk | Desk | RECEPTACLE
181 | Record_01 | Record | PICKUPABLE,BREAKABLE
182 | RoboticArm_01 | Robot Arm | TOGGLEABLE,POWERABLE
183 | SafetyBarrier_02 | Wet Floor Sign |
184 | SandwichHalf_01 | Sandwich | PICKUPABLE
185 | Screwdriver | Screw Driver | PICKUPABLE
186 | Security_Button | Button | POWERABLE,TOGGLEABLE
187 | Shelf_01 | Shelf | RECEPTACLE
188 | Shelves_Tall_01 | Shelf | RECEPTACLE
189 | sign_diamond_carrot | Sign | DECOR
190 | sign_diamond_fire | Sign | DECOR
191 | sign_diamond_freeze | Sign | DECOR
192 | sign_diamond_gravity | Sign | DECOR
193 | sign_diamond_laser | Sign | DECOR
194 | sign_diamond_quantum | Sign | DECOR
195 | sign_diamond_shrink | Sign | DECOR
196 | sign_office_layout_1 | Map | DECOR
197 | sign_short_breakroom_1 | Sign | DECOR
198 | sign_short_breakroom_2 | Sign | DECOR
199 | sign_short_caution_carrot | Sign | DECOR
200 | sign_short_caution_electrical | Sign | DECOR
201 | sign_short_caution_gravity_1 | Sign | DECOR
202 | sign_short_caution_gravity_2 | Sign | DECOR
203 | sign_short_caution_quantum_1 | Sign | DECOR
204 | sign_short_caution_quantum_2 | Sign | DECOR
205 | sign_short_caution_restricted_1 | Sign | DECOR
206 | sign_short_caution_shrink | Sign | DECOR
207 | sign_short_office_1 | Sign | DECOR
208 | sign_short_poster_delwan_1 | Poster | DECOR
209 | sign_short_poster_delwan_2 | Poster | DECOR
210 | sign_short_poster_delwan_3 | Poster | DECOR
211 | sign_short_poster_delwan_4 | Poster | DECOR
212 | sign_short_poster_tam | Poster | DECOR
213 | sign_short_quantum_1 | Sign | DECOR
214 | sign_short_quantum_2 | Sign | DECOR
215 | sign_short_robotics_1 | Sign | DECOR
216 | sign_short_robotics_2 | Sign | DECOR
217 | sign_short_warehouse_1 | Sign | DECOR
218 | sign_square_breakroom | Sign | DECOR
219 | sign_tall_caution_carrot | Sign | DECOR
220 | sign_tall_caution_electrical | Sign | DECOR
221 | sign_tall_caution_freeze | Sign | DECOR
222 | sign_tall_caution_laser | Sign | DECOR
223 | sign_tall_caution_robotics | Sign | DECOR
224 | sign_tall_caution_shrink | Sign | DECOR
225 | sign_tall_poster_tam_1 | Poster | DECOR
226 | sign_tall_poster_tam_2 | Poster | DECOR
227 | SK_Veh_Pickup_01_ToolBox | Tool Box | DECOR
228 | SM_Bld_Door_02 | Door | DECOR
229 | SM_Bld_Wall_Metal_Slide_02 | Garage Door | DECOR
230 | SM_Bld_Wall_Window_Blinds_Open_04 | Blinds | DECOR
231 | SM_Item_Clipboard_01 | Clipboard | DECOR
232 | SM_Prop_AirVent_01 | Vent | DECOR
233 | SM_Prop_AirVent_Wall_01 | Vent | DECOR
234 | SM_Prop_Book_Group_01 | Books | DECOR
235 | SM_Prop_Book_Group_02 | Books | DECOR
236 | SM_Prop_Book_Group_03 | Books | DECOR
237 | SM_Prop_Book_Group_04 | Books | DECOR
238 | SM_Prop_Book_Group_05 | Books | DECOR
239 | SM_Prop_Book_Group_06 | Books | DECOR
240 | SM_Prop_Book_Group_07 | Books | DECOR
241 | SM_Prop_Book_Group_08 | Books | DECOR
242 | SM_Prop_Book_Magazine_01 | Magazine | DECOR
243 | SM_Prop_Book_Phone_Open_01 | Book | DECOR
244 | SM_Prop_Buttons_02 | Key Pad | DECOR
245 | SM_Prop_Buttons_05 | Buttons | DECOR
246 | SM_Prop_Calender_01 | Calendar | DECOR
247 | SM_Prop_Cart_01 | Cart | DECOR
248 | SM_Prop_Certificate_01 | Certificate | DECOR
249 | SM_Prop_Crate_Stack_01 | Crates | DECOR
250 | SM_Prop_Drink_Dispenser_01 | Cooler | DECOR
251 | SM_Prop_FlatPackCardboardBoxes_03 | Cardboard Boxes | DECOR
252 | SM_Prop_FlatPackCardboardBoxes_04 | Cardboard Boxes | DECOR
253 | SM_Prop_FolderTray_01 | Tray | DECOR
254 | SM_Prop_FolderTray_02 | Paper Tray | DECOR
255 | SM_Prop_FolderTray_03 | Tray | DECOR
256 | SM_Prop_FolderTray_04 | Paper Tray | DECOR
257 | SM_Prop_Folder_Holder_01 | Folder Holder | DECOR
258 | SM_Prop_Folder_Holder_02 | Folder Holder | DECOR
259 | SM_Prop_Folder_Holder_03 | Folder Holder | DECOR
260 | SM_Prop_Folder_Holder_04 | Folder Holder | DECOR
261 | SM_Prop_Folder_Manila_01 | Folder | DECOR
262 | SM_Prop_Folder_Manila_02 | Folder | DECOR
263 | SM_Prop_Folder_Manila_03 | Folder | DECOR
264 | SM_Prop_Folder_Manila_04 | Folder | DECOR
265 | SM_Prop_Folder_PVC_01 | Folder | DECOR
266 | SM_Prop_Folder_PVC_02 | Folders | DECOR
267 | SM_Prop_Lighting_Cable_Bulb_01 | Light Bulb | DECOR
268 | SM_Prop_NetCable_03 | Cable Spool | DECOR
269 | SM_Prop_NotePad_01 | Notepad | DECOR
270 | SM_Prop_Oxygen_Tank | Water Tank | DECOR
271 | SM_Prop_Oxygen_Tank_Large | Water Tank | DECOR
272 | SM_Prop_PalletStack_02 | Pallets | DECOR
273 | SM_Prop_Papers_01 | Papers | DECOR
274 | SM_Prop_PaperTray_01_Full_01 | Paper Tray | DECOR
275 | SM_Prop_Paper_04 | Paper | DECOR
276 | SM_Prop_Paper_05 | Paper | DECOR
277 | SM_Prop_Paper_06 | Paper | DECOR
278 | SM_Prop_Paper_Pile_01 | Stack of Papers | DECOR
279 | SM_Prop_Paper_Pile_03 | Stack of Papers | DECOR
280 | SM_Prop_Plastic_Pipe_Spool_01 | Wire Coil | DECOR
281 | SM_Prop_PowerBoxes_01 | Power Boxes | DECOR
282 | SM_Prop_Powercable_01 | Cable | DECOR
283 | SM_Prop_Powercable_02 | Cable Spool | DECOR
284 | SM_Prop_Powercable_03 | Cable | DECOR
285 | SM_Prop_Scales_01 | Scale | DECOR
286 | SM_Prop_Server_Cabinet_01 | Server Cabinet | DECOR
287 | SM_Prop_Server_Node_01 | Server | DECOR
288 | SM_Prop_Table_02 | Table | RECEPTACLE
289 | SM_Prop_ToolBox_01 | Tool Box | DECOR
290 | SM_Prop_Warehouse_Boxes_Stacked_03 | Cardboard Boxes | DECOR
291 | SM_Prop_Warehouse_Boxes_Stacked_04 | Pallet | DECOR
292 | SM_Prop_Warehouse_Light_04 | Light | DECOR
293 | SM_Prop_Warehouse_Platform_Trolley_01 | Dolly | DECOR
294 | SM_Prop_Wirespool_01 | Cable Spool | DECOR
295 | SM_Prop_Wirespool_Small_01 | Cable Spool | DECOR
296 | SM_Sign_Exit_02 | Sign | DECOR
297 | SM_Tool_Buffer_01_Battery | Battery | DECOR
298 | SM_Tool_Drill_Chuck_01 | Drill Chuck | DECOR
299 | SM_Tool_Handsaw_01 | Handsaw | DECOR
300 | Spoon_01 | Spoon | PICKUPABLE
301 | StickyNote | Sticky Note |
302 | TableRoundSmall_02 | Table Round Small | RECEPTACLE
303 | TableRound_02 | Table | RECEPTACLE
304 | Table_Metal_01 | Table | RECEPTACLE
305 | TAMPrototypeHead_01 | TAM Prototype | POWERABLE,TOGGLEABLE
306 | TeslaCoil | Tesla Coil | TOGGLEABLE,POWERABLE
307 | TeslaCoil_Small | Tesla Coil | DECOR
308 | Toaster_02 | Toaster | TOGGLEABLE,RECEPTACLE,POWERABLE
309 | Toast_01 | Toast | PICKUPABLE
310 | Toast_02 | Toast | PICKUPABLE
311 | Toast_03 | Toast | PICKUPABLE
312 | Toast_04 | Toast | PICKUPABLE
313 | Toast_04_Jam | Toast | PICKUPABLE
314 | Toast_04_PBJ | Toast | PICKUPABLE
315 | ToyBed | Toy Bed | DECOR
316 | TrashCan_01 | Trash Can | RECEPTACLE
317 | Trophy01 | Trophy | PICKUPABLE,BREAKABLE
318 | VendingMachine_01 | Vending Machine | RECEPTACLE,OPENABLE,POWERABLE,USABLE
319 | VendingMachine_01_B4_Button | B4 Button | TOGGLEABLE
320 | VendingMachine_01_E5_Button | E5 Button | TOGGLEABLE
321 | VendingMachine_01_E7_Button | E7 Button | TOGGLEABLE
322 | VendingMachine_01_M8_Button | M8 Button | TOGGLEABLE
323 | V_Monitor_Embiggenator | Computer | POWERABLE,TOGGLEABLE,RECEPTACLE,INFECTABLE
324 | V_Monitor_FreezeRay | Computer | TOGGLEABLE,POWERABLE,RECEPTACLE,INFECTABLE
325 | V_Monitor_Gravity | Computer | TOGGLEABLE,POWERABLE,RECEPTACLE,INFECTABLE
326 | V_Monitor_Laser | Computer | TOGGLEABLE,POWERABLE,RECEPTACLE,INFECTABLE
327 | V_Monitor_Portal | Computer | TOGGLEABLE,POWERABLE,RECEPTACLE,INFECTABLE
328 | WallClock_01 | Clock | DECOR
329 | Warehouse_Boxes | Boxes |
330 | WarningSign_01 | Warning Sign |
331 | WaterCooler_01 | Water Cooler |
332 | WaterPuddle_01 | Puddle | POWERABLE
333 | WhiteBoard_01 | White Board |
334 | Whiteboard_CoffeeUnmaker | White Board |
335 | Whiteboard_YesterdayMachine | White Board |
336 | YesterdayMachine_01 | Time Machine | OPENABLE,TOGGLEABLE,RECEPTACLE,POWERABLE

Note: The objects, properties and states listed above are specific to Arena build version v1_14_1.
1.2 States
The characteristics/attributes of an object rendered in a simulation environment at a certain time are called the object states. For example, at time T, the refrigerator is closed, or the milk is cold. After performing various actions, the state of these items may have changed at time T + x. For instance, the milk may have been heated or the refrigerator may have been opened.
Please find the list of object states below.

- PICKED_UP
- OPENED
- BROKEN
- TOGGLED
- POWERED
- OVERLOADED
- SPARKING
- DIRTY
- EATEN
- HOT
- COLD
- FILLED
- COOKED
- INFECTED
- SCANNED

1.3 Object properties and state transitions
Object properties specifies if a certain type of robot interaction action can be performed on an object. For example, KitchenCabinet_01 has an object property as OPENABLE, that means AI agent can open the cabinet. At the same time, the robot cannot PICKUP or BREAK the KitchenCabinet_01 as it does not have PICKUPABLE/BREAKABLE properties.
In addition, an object can be a Receptacle - which indicated it can be used to contain/store another object, which contains an Anchor point - which is a location on the receptacle where another object can be placed.
The table below shows a list of object properties, related object states transitions, and contextual interactions.

# | Property | Corresponding State(s) | Actions | Contextual Interactions
1 | PICKUPABLE | PICKED_UP | PICKUP | ● AI agent uses PICKUP on PICKUPABLE interactable with empty hand to change PICKED_UP to true ● AI agent uses PICKUP on PICKUPABLE interactable with full hand, resulting in action failure and no state change ● AI agent uses PLACE on RECEPTACLE with empty anchor points, resulting in interactable of targeted hand having PICKED_UP changed to false ● AI agent uses PLACE on RECEPTACLE with no empty anchor points, resulting in action failure and no state change ● AI agent uses PLACE on RECEPTACLE with keyed anchor points, and interactable is not of type anchor points are keyed for, resulting in action failure and no state change ● AI agent uses PLACE on RECEPTACLE with keyed anchor points, and interactable is of type anchor points are keyed for, resulting in PICKED_UP being set to false
2 | OPENABLE | OPENED | OPEN, CLOSE | ● AI agent uses OPEN on OPENABLE interactable to change OPENED to true ● AI agent uses CLOSE on OPENABLE interactable to change OPENED to false ● AI agent uses OPEN on OPENABLE interactable that has isLocked set to true, resulting in action failure and no state change ● AI agent uses CLOSE on OPENABLE interactable that has isLocked set to true, resulting in action failure and no state change ● AI agent uses TOGGLE on POWERED, TOGGLEABLE security button interactable to toggle OPENED on the two reception doors
3 | BREAKABLE | BROKEN | BREAK | ● Hammer used to BREAK BREAKABLE interactable results in BROKEN set to true ● Floppy_Virus having HOT set to true results in BROKEN being set to true
4 | RECEPTACLE | N/A | PLACE | ● See Property: PICKUPABLE
5 | TOGGLEABLE* | TOGGLED | TOGGLE | ● AI agent uses TOGGLE on TOGGLEABLE interactable that has POWERABLE set to false, resulting in TOGGLED being set to opposite state ● AI agent uses TOGGLE on TOGGLEABLE interactable that has POWERABLE set to true and POWERED set to false, resulting in action failure and no state change ● AI agent uses TOGGLE on TOGGLEABLE interactable that has POWERABLE set to true and POWERED set to true, resulting in multiple possibilities, including Action Failure, Opposite State of what it was at action start, and Temporary State that will be reset before action return
6 | POWERABLE | POWERED, OVERLOADED, SPARKING | N/A | ● If an object is POWERABLE, it can be OVERLOADED or SPARKING ● OVERLOADED is a state that computers/terminals can receive that indicates they are in an error state and locks out the user. The only thing that can revert this state is turning off the device and back on, by toggling the power of the room that they are in. This will reset the terminal to allow it to be used again by the player. ● SPARKING is a state that any electrical device can receive that indicates they are completely fried, and now an active hazard for the player. As long as they are powered, they will spark forever, and if the player attempts to interact with the option, it will electrocute AI agent. ● AI agent uses TOGGLE on FuseBox_01_Lever that is a child of FuseBox_01 or FuseBox_02 that is set to power circuit that interactable is set to, resulting in POWERED being set to opposite state - If OVERLOADED and/or SPARKING is true and opposite state is false, OVERLOADED and/or SPARKING is set to false
7 | DIRTYABLE | DIRTY | CLEAN | ● DIRTY interactable uses CLEAN on KitchenCounterSink_01 that is TOGGLED, resulting in DIRTY being set to false
8 | HEATABLE | HOT | N/A | ● AI agent using TOGGLE on Microwave_01 with HEATABLE interactable in it results in HEATABLE interactable having HOT set to true ● AI agent using TOGGLE on Toaster_02 with HEATABLE interactable in it results in HEATABLE interactable having HOT set to true ● AI agent using TOGGLE on V_Monitor_Laser with HEATABLE interactable in AP_Prop_Shelf_Wall_Laser and Laser fully assembled results in HEATABLE interactable having HOT set to true Additional Notes: If HOT is set to true, COLD will also be set to false.
9 | EATABLE | EATEN | N/A | ● EATABLE property is applicable to edible items only such as Donut_01, Carrot_01 etc. ● If this feature is set to "True," then any food item will visually resemble a portion of itself after being consumed. This property can be set to ”False“ by processing the item in time machine(YesterdayMachine_01). ● There isn't any primitive action supported by AI agent that will set this property True.
10 | CHILLABLE | COLD | N/A | ● AI agent using TOGGLE on V_Monitor_FreezeRay with CHILLABLE interactable in AP_Prop_Shelf_Wall_04 results in CHILLABLE interactable having COLD set to true ● AI agent placing CHILLABLE interactable in FridgeUpper_02 and using CLOSE on FridgeUpper_02 results in CHILLABLE interactable having COLD set to true Additional Notes: If COLD is set to true, HOT will also be set to false.
11 | FILLABLE | FILLED | FILL, POUR | ● Fillable interactable with FILLED set to true uses POUR on other fillable interactable with FILLED set to false, resulting in interactor having FILLED set to false and target having FILLED set to true ● Fillable interactable with FILLED set to false uses POUR resulting in action failed and no state change ● Fillable interactable with FILLED set to true uses POUR on other fillable interactable with FILLED set to true, resulting in action failure and no state change ● Fillable interactable with FILLED set to false uses FILL on KitchenCounterSink_01 that has TOGGLED set to true, resulting in fillable interactable having FILLED set to true
12 | COOKABLE | COOKED | N/A | ● BreadSlice_01 is placed in Toaster_02 and Toaster_02 is toggled on, resulting in Toast being cooked
13 | DECOR | N/A | N/A | ● Anything set as decor will not be focusable in TAMCAM unless explicitly EXAMINED, or is the recipient of a GoTo command. DECOR items do not have any other properties.
14 | INFECTABLE | INFECTED | N/A | ● AI agent places Floppy_Antivirus in terminal that has INFECTED set to true, resulting in INFECTED being set to false ● AI agent places Floppy_Virus in terminal that has INFECTED set to false, resulting in INFECTED being set to true

* Here are some examples to explain the behavior of objects with TOGGLEABLE property

| Objects | Behavior (Temporary state/Opposite state/Action failure)
--- | --- | ---
1 | VendingMachine_01_B4_Button VendingMachine_01_E5_Button VendingMachine_01_E7_Button VendingMachine_01_M8_Button | Temporary State if item awaiting dispense Action Failure if not
2 | ColorChanger_Button_Green ColorChanger_Button_Blue ColorChanger_Button_Red | Temporary State if item in EAC_Machine anchor point Action Failure if not
3 | GravityPad Laser FreezeRay ColorChangerStation PortalGenerator FuseBox_01 FuseBox_02 Embiggenator | Action Failure
4 | ForkLift KitchenCounterSink_01 FuseBox_01_Lever LightSwitch_01 V_Monitor_Portal V_Monitor_Gravity RoboticArm_01 | Opposite State
5 | FireAlarm_01 Microwave_01 Toaster_02 CoffeeUnMaker_01 | Temporary State
6 | YesterdayMachine_01 | Temporary State if item in anchor point Action Failure if not
7 | CoffeeMaker_01 | Temporary State if FILLABLE item in anchor point and coffee maker is FILLED Action Failure if not
8 | EAC_Machine | Temporary State if item in anchor point Action Failure if not
9 | V_Monitor_Embiggenator | Opposite State if item in linked Embiggenator anchor point Action Failure if not
10 | TAMPrototypeHead_01 | Temporary State if emotion is not being overridden by room light status/radio Action Failure if it is
11 | V_Monitor_Laser | Opposite State if laser is running Temporary State if laser is assembled Action Failure otherwise
12 | V_Monitor_FreezeRay | Opposite State if freeze ray is running Temporary State otherwise
13 | Printer_3D | Temporary State if anchor point is empty and cartridge is inserted Action Failure otherwise

## 2. Arena actions

At a high-level, Arena supports two kinds of actions:

- Dialog Action - to generate a dialog response to the user
- Robot Actions - to execute Navigation actions, and Object interaction actions

This section explains all of the supported actions and their respective JSON formats.

### 2.1 Dialog action

    #JSON format for dialog action
    {
        "id": "<uid>",
        "type": "Dialog",
        "dialog": {
            "value": "<utterance>"
        }
    }

Note: dialog.value → is a string value that would be played on the user's device, eg. “where is the cartridge?”

### 2.2 Robot actions

These actions are used for manipulating the Robot agent or the objects in the simulation environment. There are two types of robot actions:

- Navigation actions → used to navigate the AI agent within the simulated environment
- Object Interaction actions → used to interact with the objects present in the simulation environment

When an action is executed in the simulation environment, the state of one/more objects might be changed.

#### 2.2.1 Navigation Actions

The list of primitive navigation actions supported by Arena is described below, with the respective JSON formats.

# | Action | JSON format of action | Magnitude value ranges (min, max)
1 | GoTo | # Go to an object { "id": "<uid>", "type": "Goto", "goto": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "object_name", } } } # Go to the room { "id": "<uid>", "type": "Goto", "goto": { "object": { "officeRoom" : <office room name>, } } } # Go to a viewpoint { "id": "<uid>", "type": "Goto", "goto": { "object": { "goToPoint" : <viewpoint name>, } } } # Go to co-ordinates { "id": "<uid>", "type": "Goto", "goto": { "object": { "position": { "x": -20.38525, "y": 0.3881618, "z": 7.425945 }, "rotation": { "x": 0, "y": 1, "z": 0, "w": -4.371139e-08 } } } } | N/A
2 | MoveForward | { "id": "<uid>", "type": "Move", "move": { "direction": "Forward", "magnitude": <float val> # move magnitude } } | (0, min(positive float number, distance between AI agent and any obstacle such as wall, table in front of it))
3 | MoveBackward | { "id": "<uid>", "type": "Move", "move": { "direction": "Backward", "magnitude": <float val> # move magnitude } } | (0, min(positive float number, distance between AI agent and any obstacle such as wall, table in front of it))
4 | Rotate Right | { "id": "<uid>", "type": "Rotate", "rotation": { "direction": "Right", "magnitude": <float val> # positive rotation degrees. } } | (0, 359.0)
5 | Rotate Left | { "id": "<uid>", "type": "Rotate", "rotation": { "direction": "Left", "magnitude": <float val> # positive rotation degrees. } } | (0, 359.0)
6 | LookDown | { "id": "<uid>", "type": "Look", "look": { "direction": "Down", "magnitude": <float val> # rotation degrees } } | (0, 60.0)
7 | LookUp | { "id": "<uid>", "type": "Look", "look": { "direction": "Up", "magnitude": <float val> # rotation degrees } } | (0, 60.0)
8 | LookAround | { "id": "<uid>", "type": "Look", "look": { "direction": "Around", "magnitude": <int or float val> # field of view } } | For a 360-degree view, this should always be set to 100. It returns four color images with slight edge overlap.

The actions mentioned above are self-explanatory. After observing the table, the commonly used fields in action JSON format are:

- type → type of action such as Look, Rotate, etc
- direction → It depends on the action type. E.g. for “Rotate”, direction could be “Left”/ “Right”.
- magnitude → Float value used for performing the action.

IMPORTANT: The first letter of each action type and direction must be in uppercase.
Note:
1. “GoTo” command has multiple action JSON formats based on the usage. Please refer to the section below for knowing more about “colorImageIndex”.
2. “LookAround” is a special action specifically designed for ML models to perform panoramic object detection. The execution of LookAround action does not result in any animation changes visible to the user/game-player.

> How does “LookAround” capture images?
> The first party view at the time of issuing the look around command is used to capture the first image with a field of view of 100, followed by the robot rotating to perpendicular directions to capture a total of 4 look around images (each with a field of view of 100 degrees).

#### 2.2.2 Object Interaction actions

Please find the list of object interaction actions below.

# | Action | JSON format of action
1 | PickUp | { "id": "<uid>", "type": "Pickup", "pickup": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "object_name" } } }
2 | Open | { "id": "<uid>", "type": "Open", "open": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "object_name" } } }
3 | Close | { "id": "<uid>", "type": "Close", "close": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "object_name" } } }
4 | Break | { "id": "<uid>", "type": "Break", "break": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "object_name" } } }
5 | Scan | { "id": "<uid>", "type": "Scan", "scan": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "<objectName>", } } }
6 | Examine | { "id": "<uid>", "type": "Examine", "examine": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "<objectName>", } } }
7 | Place | { "id": "<uid>", "type": "Place", "place": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "object_name" } } }
8 | Pour | { "id": "<uid>", "type": "Pour", "pour": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "object_name" } } }
9 | Toggle | { "id": "<uid>", "type": "Toggle", "toggle": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "object_name" } } }
10 | Fill | { "id": "<uid>", "type": "Fill", "fill": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "object_name" } } }
11 | Clean | { "id": "<uid>", "type": "Clean", "clean": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "object_name" } } }
12 | Highlight | { "id": "<uid>", "type": "Highlight", "highlight": { "object": { "colorImageIndex": 0, "mask": "<compressedString>", "name": "object_name" } } }

The fields in action JSON format are:

- type → type of action such as Open, Toggle, etc
- mask → compressed 2d binary sparse matrix of dimensions 300*300 indicating the destination object

- Say, for example, the user utterance is “Pour milk in the bowl”

- type → Pour
- mask → compressed 2d binary sparse matrix of dimensions 300*300 indicating bowl (not milk)

- colorImageIndex → As mentioned in navigation actions, “LookAround” action returns a list of 4 images. This field represents an image index that was used for generating a mask. By default, it will be zero.
- name → This field indicates the name of the object class. As explained in section 3.3, "objectOutputType" in response payload can switch between an object class and an object mask.

> What’s the difference between SCAN and HIGHLIGHT?
> In highlight action, the robot turns toward the object and rotates back to the original orientation. In scan action, robot does not turn back to its original position.

## 3. Arena agent metadata

The following shows sample metadata information.

    {
       "colorImages": { // dictionary of color images
            "0": image_rgb1,
            "1": image_rgb2,
            "2": image_rgb3,
            "3": image_rgb4
       },
       "depthImages": { // dictionary of depth images
            "0": image_depth1,
            "1": image_depth2,
            "2": image_depth3,
            "3": image_depth4
       },
       "robotInfo": [{
            "currentRoom": "Lab1",
            "position": {"x": -4.96169662, "y": 0.388161778, "z": 20.42516},
            "rotation": {"x": 0.0, "y": 0.676049948, "z": 0.0, "w": -0.7368558}
       }],
       "viewPoints": {
            "Reception_3": {"x": -2.14525414, "y": 0.00479745865, "z": 7.505945},
            "MainOffice_4": {"x": -7.305254, "y": 0.00479745865, "z": 6.955945},
            "BreakRoom_2": {"x": -18.3852539, "y": 0.00479745865, "z": 12.6659451},
            "MainOffice_8": {"x": -16.2052536, "y": 0.00479745865, "z": 8.025945},
            "Reception_2": {"x": -3.60525513, "y": 0.00479745865, "z": 10.0359449},
            .
            .
            . (More viewpoints)
       },
       "previousActions": {
            "id": "<uid>",                # Id of action
            "type": "Rotate",             # Type of action. Refer section 8 for more info.
            "success": boolean,           # If action was executed successfully
            "errorType": "<errorType>"    # ErrorCode
       }
    }

where:

- “colorImages” holds either either 1 or 4 color images (4 images for LookAround action. )
- “depthImages” holds either either 1 or 4 color images (4 images for LookAround action. )
- “robotInfo” provides the robot's location information. It includes current room and co-ordinates (position as well as rotation)

- "currentRoom" → The possible values of current rooms are given below

- BreakRoom, MainOffice, SmallOffice, Warehouse, Reception, Lab1, Lab2, Hallway

- “position” → X, Y, and Z floats representing the position of the robot
- “rotation” → X, Y, Z, and W floats representing the rotation of the robot (Quaternion)

- “viewPoints” is a list of all pre-determined static locations within a room along with their co-ordinates. Please refer to the list given below for an example.

    "Reception_3"   :    {"x": -2.14525414, "y": 0.00479745865, "z": 7.505945}
    "MainOffice_4"  :    {"x": -7.305254, "y": 0.00479745865, "z": 6.955945}
    "BreakRoom_2"   :    {"x": -18.3852539, "y": 0.00479745865, "z": 12.6659451}
    "MainOffice_8"  :    {"x": -16.2052536, "y": 0.00479745865, "z": 8.025945}
    "Reception_2"   :    {"x": -3.60525513, "y": 0.00479745865, "z": 10.0359449}
    "Lab1_4"        :    {"x": -4.315254, "y": 0.00479745865, "z": 22.3359432}
    "Reception_4"   :    {"x": -1.75525475, "y": 0.00479745865, "z": 6.045945}
    "BreakRoom_7"   :    {"x": -17.3052559, "y": 0.00479745865, "z": 17.4659443}
    "BreakRoom_8"   :    {"x": -17.2252541, "y": 0.00479745865, "z": 21.5559444}
    "Lab2_2"        :    {"x": -11.4052544, "y": 0.00479745865, "z": 13.9259453}
    "Lab2_3"        :    {"x": -13.515255, "y": 0.00479745865, "z": 13.8859453}
    "Reception_5"   :    {"x": -4.28525543, "y": 0.00479745865, "z": 6.045945}
    "SmallOffice_3" :    {"x": -21.9652557, "y": 0.00479745865, "z": 7.155945}
    "Lab1_2"        :    {"x": -3.03525543, "y": 0.00479745865, "z": 15.0859451}
    "Reception_1"   :    {"x": -4.925255, "y": 0.00479745865, "z": 10.4159451}
    "Lab1_5"        :    {"x": -6.555254, "y": 0.00479745865, "z": 22.9159431}
    "MainOffice_3"  :    {"x": -7.845255, "y": 0.00479745865, "z": 10.0959454}
    "Warehouse_3"   :    {"x": -10.7952538, "y": 0.00479745865, "z": -1.4640553}
    "Reception_8"   :    {"x": -4.2052536, "y": 0.00479745865, "z": 9.525945}
    "MainOffice_1"  :    {"x": -15.5252552, "y": 0.00479745865, "z": 10.0759449}
    "Lab1_1"        :    {"x": -5.91525459, "y": 0.00479745865, "z": 12.8859453}
    "Lab2_1"        :    {"x": -11.6652546, "y": 0.00479745865, "z": 15.6259451}
    "Warehouse_2"   :    {"x": -8.415255, "y": 0.00479745865, "z": 1.87594485}
    "Warehouse_6"   :    {"x": -2.21525383, "y": 0.00479745865, "z": -1.65405524}
    "BreakRoom_5"   :    {"x": -21.1752548, "y": 0.00479745865, "z": 16.0459442}
    "MainOffice_6"  :    {"x": -13.7252541, "y": 0.00479745865, "z": 5.71594524}
    "Warehouse_1"   :    {"x": -5.685255, "y": 0.00479745865, "z": 2.085945}
    "Lab2_4"        :    {"x": -14.0452538, "y": 0.00479745865, "z": 15.1159449}
    "MainOffice_7"  :    {"x": -15.7452545, "y": 0.00479745865, "z": 6.01594448}
    "Warehouse_4"   :    {"x": -10.1552544, "y": 0.00479745865, "z": -5.47405529}
    "SmallOffice_2" :    {"x": -22.1852531, "y": 0.00479745865, "z": 5.01594448}
    "Lab1_7"        :    {"x": -4.975254, "y": 0.00479745865, "z": 20.5759449}
    "SmallOffice_1" :    {"x": -20.6752548, "y": 0.00479745865, "z": 4.92594433}
    "BreakRoom_3"   :    {"x": -18.1052551, "y": 0.00479745865, "z": 14.7159452}
    "SmallOffice_4" :    {"x": -20.5552559, "y": 0.00479745865, "z": 7.155945}
    "Lab1_3"        :    {"x": -3.15525436, "y": 0.00479745865, "z": 21.7359447}
    "BreakRoom_4"   :    {"x": -22.1052551, "y": 0.00479745865, "z": 13.4059448}
    "Lab2_7"        :    {"x": -12.3352547, "y": 0.00479745865, "z": 21.4459438}
    "BreakRoom_1"   :    {"x": -19.765255, "y": 0.00479745865, "z": 10.4659452}
    "Lab1_6"        :    {"x": -6.19525528, "y": 0.00479745865, "z": 20.6759434}
    "SmallOffice_5" :    {"x": -18.9752541, "y": 0.00479745865, "z": 7.155945}
    "Lab1_8"        :    {"x": -6.765255, "y": 0.00479745865, "z": 13.3359451}
    "BreakRoom_6"   :    {"x": -20.4452553, "y": 0.00479745865, "z": 17.3459435}
    "Warehouse_5"   :    {"x": -5.99525452, "y": 0.00479745865, "z": -5.8540554}
    "Lab2_6"        :    {"x": -14.0752544, "y": 0.00479745865, "z": 22.3559437}
    "MainOffice_2"  :    {"x": -12.1452541, "y": 0.00479745865, "z": 10.1659451}
    "Lab2_8"        :    {"x": -10.6752548, "y": 0.00479745865, "z": 18.2659435}
    "SmallOffice_6" :    {"x": -18.0052547, "y": 0.00479745865, "z": 7.155945}
    "Warehouse_8"   :    {"x": -7.12525368, "y": 0.00479745865, "z": -1.4640553}
    "Reception_7"   :    {"x": -3.5252552, "y": 0.00479745865, "z": 7.3959446}
    "Warehouse_7"   :    {"x": -4.725254, "y": 0.00479745865, "z": -1.4640553}
    "SmallOffice_7" :    {"x": -17.9752541, "y": 0.00479745865, "z": 6.035945}
    "Reception_6"   :    {"x": -5.315254, "y": 0.00479745865, "z": 7.3959446}
    "Lab2_5"        :    {"x": -11.4252548, "y": 0.00479745865, "z": 19.0659447}
    "MainOffice_5"  :    {"x": -10.4952545, "y": 0.00479745865, "z": 5.71594524}
    "SmallOffice_8" :    {"x": -18.0252533, "y": 0.00479745865, "z": 4.8459444}

- "previousActions" indicates if a previous action was executed successfully (or not) in the Arena Simulation Engine. The errorType holds one of the following values:

# | Error Code | Scenario | Example
1 | ActionSuccessful | Robot was able to carry out the command without any issues. | Robot receives an instruction “open a cabinet”. The cabinet is not locked, and it is closed. Robot opens the cabinet successfully and the cabinet’s OPENED state is now true.
2 | UnsupportedAction | Robot was given a command that does not work. | If user says "open a lightswitch". The lightswitch does not have the OPENABLE property, and thus does not support this interaction.
3 | UnsupportedNavigation | Robot was given a command to go somewhere that it is unable to access. | Robot is in the warehouse, and the warehouse door is closed. If user tells robot to go to the red desk in the main office, robot can not get there, so UnsupportedNavigation is returned. Note: If user attempts to go to an office room instead, and robot is unable to get to that office room, robot will instead navigate to the nearest door, which will return AlternateNavigationUsed instead.
4 | AlreadyHoldingObject | Robot was given a command to pick up an object, but robot is already holding an object. | Robot is holding a hammer. Robot is then told to pick up a printer cartridge. AlreadyHoldingObject is returned.
5 | ReceptacleIsFull | Robot was given a command to place an object on a receptacle, but that receptacle does not have available capacity for this object. | Robot is holding a hammer. It is told to place the hammer on a table that only has 3 slots, and all of the slots are occupied. ReceptacleIsFull is returned.
6 | ReceptacleIsClosed | Robot was given a command to place an item in a receptacle that is OPENABLE, but its OPENED state is false. | Robot is holding an apple. It is told to place the apple in the fridge, but the fridge is closed. ReceptacleIsClosed is returned.
7 | TargetInaccessible | Robot was given a command to interact with an object, but there is a wall between robot and the object. | Robot is on the outside of reception, in the main office area, but within range of the security button situated inside of reception. Robot is told to toggle the security button. Robot is technically in range, but there is a wall between robot and the object. TargetInaccessible is returned.
8 | KilledByHazard | Robot is given a command that results in robot being killed by a hazard. | Robot is told to go to the warehouse door. The puddle trap is active and sparking in front of the warehouse door. Robot is killed by the hazard before reaching the warehouse door. KilledByHazard is returned.
9 | TargetOutOfRange | Robot is given a command to interact with an object that exceeds the maximum allowable range for interaction. | If robot is in the main office and it is given a command to open the fridge in the break room. The distance between robot and the fridge is far greater than the allowable distance of 3 meters. TargetOutOfRange is returned.
10 | AlternateNavigationUsed | Robot is given a movement command and it does successfully move, but not to the exact spot that was designated, only close to it. | Example 1: Robot is issued a command to go to a kitchen cabinet, but the drawer underneath it is open, blocking the usual spot where robot would arrive when issued such a command. AlternateNavigationUsed is returned. Example 2: Robot is issued a command to go to the break room, but there is a door in the way. robot arrives at the door that is blocking robot’s entry to the break room instead. AlternateNavigationUsed is returned.
11 | ObjectUnpowered | Robot was told to toggle an object that requires power to operate, but is currently unpowered. | Robot was issued a command to toggle the laser monitor. The lab fuse box is toggled off. The monitor is unpowered. ObjectUnpowered is returned.
12 | ObjectOverloaded | Robot was told to toggle an object that has its OVERLOADED state set to true. | Robot was issued a command to toggle the laser monitor. The laser monitor is currently showing a status of OVERLOADED. ObjectOverloaded is returned.
13 | InvalidCommand | Something is incorrect with the way the command has been constructed that makes it impossible to be executed. | If magnitude or command type is not defined appropriately, InvalidCommand is returned.
14 | ObjectNotPickedUp | Robot was issued a command that would have required the object to have been picked up, but robot is not holding the object. | Robot is told to pour a mug of coffee into the sink. But, robot is not holding the mug. ObjectNotPickedUp is returned.
15 | ArenaUnavailable | Robot was issued a command, but robot was in the process of teleporting in and booting up. | A CDF file was just loaded. Robot is still in the process of spawning in when robot is suddenly issued a command to GoTo the fridge. Robot is unable to process this command because the spawn in sequence is still occurring. ArenaUnavailable is returned.
16 | IncorrectActionFormat | If action has invalid structure, IncorrectActionFormat is returned | "objectOutputType" is set to "OBJECT_MASK" and "mask" key in not available in actions, IncorrectActionFormat is returned
17 | InvalidObjectClass | If action has invalid object classs name, InvalidObjectClass is returned. "ObjectOutputType" must be set to OBJECT MASK for all other objects except sticky notes. For sticky notes, it could be set to OBJECT_CLASS | If "objectOutputType" is set to "OBJECT CLASS" and classname is not set to "stickynote", InvalidObjectClass is returned.
18 | ActionExecutionError | If there any exception is thrown while executing the action, ActionExecutionError is returned |
19 | PostProcessError | After an action is completed, if any exception is thrown during the post-processing sequence(for example, retrieving a ground truth image), PostProcessError is returned. |