finshi press action

data_gen_dependencies/object.py

@@ -49,9 +49,9 @@ class OmniObject:
                         "direction": np.array([-1, 0, 0.3]),
                     },
                 ],
-                'click': {
+                'press': {
                     "part": "finger edge",
-                    "task": "click",
+                    "task": "press",
                     "xyz": np.array([0, 0, 0]),
                     "direction": np.array([0, 0, 1]),
                 },
@@ -80,7 +80,6 @@ class OmniObject:
         if "interaction" in obj_info:
             obj_info = obj_info
             interaction_info = obj_info["interaction"]
-            part_joint_limits_info = obj_info.get("part_joint_limits", None)
 
         else:
 
@@ -93,7 +92,6 @@ class OmniObject:
             obj_info = json.load(open(obj_info_file))
             interaction_data = json.load(open(interaction_label_file))
             interaction_info = interaction_data['interaction']
-            part_joint_limits_info = interaction_data.get("part_joint_limits", None)
 
         obj = cls(
             name=obj_info['object_id'],
@@ -104,10 +102,9 @@ class OmniObject:
         if os.path.exists(mesh_file):
             obj_info['mesh_file'] = mesh_file
 
-        obj.part_joint_limits = part_joint_limits_info
 
         ''' Load interaction labels '''
-        obj.part_ids = []
+        
         for type in ['active', 'passive']:
             if type not in interaction_info:
                 continue
@@ -197,15 +194,14 @@ class OmniObject:
                         action_info[grasp_part] = grasp_data
 
                     interaction_info[type][action] = action_info
-                else:
-                    for primitive in action_info:
-                        for primitive_info in action_info[primitive]:
-                            if 'part_id' in primitive_info:
-                                obj.part_ids.append(primitive_info['part_id'])
+        obj.is_articulated = obj_info.get("is_articulated", False)
+        if obj.is_articulated:
+            obj.parts_info = obj_info["parts_info"]
+            obj.joints_info = obj_info["joints_info"]
         obj.elements = interaction_info
         obj.info = obj_info
         # import ipdb;ipdb.set_trace()
-        obj.is_articulated = True if part_joint_limits_info is not None else False
+        
         return obj
 
     def set_element(self, element):