diff --git a/.gitignore b/.gitignore
index 3edd558..46d4fd4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,4 +2,5 @@ __pycache__/
 workspace/
 logs/
 cache/
-.idea/
\ No newline at end of file
+.idea/
+*.txt
\ No newline at end of file
diff --git a/data_gen_dependencies/action/__init__.py b/data_gen_dependencies/action/__init__.py
index 788cebc..7d232fc 100644
--- a/data_gen_dependencies/action/__init__.py
+++ b/data_gen_dependencies/action/__init__.py
@@ -7,6 +7,7 @@ from .pull import PullStage
 from .push import PushStage
 from .pull_revolute import PullRevoluteStage
 from .press import PressPrismaticStage
+from .twist import TwistStage
 
 ACTION_STAGE = {
     "grasp": GraspStage,
@@ -23,9 +24,14 @@ ACTION_STAGE = {
     "push": PushStage,
     'click': PressPrismaticStage,
     'touch': PressPrismaticStage,
-    'press_prismatic': PressPrismaticStage,
     "pull": PullStage,
+    # ---- Articulate ----
     "pull_revolute": PullRevoluteStage,
+    "push_revolute": NotImplemented,
+    "pull_prismatic":PullStage,
+    "push_prismatic":PushStage,
+    "twist": TwistStage,
+    'press_prismatic': PressPrismaticStage,
 }
 
 def build_stage(action):
diff --git a/data_gen_dependencies/action/press.py b/data_gen_dependencies/action/press.py
index be65c13..a7d0c0a 100644
--- a/data_gen_dependencies/action/press.py
+++ b/data_gen_dependencies/action/press.py
@@ -3,23 +3,23 @@ import numpy as np
 from data_gen_dependencies.action.base import StageTemplate
 
 class PressPrismaticStage(StageTemplate):
-    def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=None, vector_direction=None,active_obj=None, passive_obj=None, **kwargs):
+    def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=None, vector_direction=None, objects=[], **kwargs):
         super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
         self.pre_distance = -0.03
         
-        self.passive_obj = passive_obj
-        self.active_obj = active_obj
+        self.passive_obj = objects[passive_obj_id]
+        self.active_obj = objects[active_obj_id]
         self.joint_position_threshold = passive_element.get('joint_position_threshold', 0.7)
         self.joint_position_threshold = self.joint_position_threshold if self.joint_position_threshold is not None else 0.7
         self.correspond_joint_id = passive_element.get('correspond_joint_id', None)
-        correspond_joint_info = passive_obj.joints_info[self.correspond_joint_id]
+        correspond_joint_info = self.passive_obj.joints_info[self.correspond_joint_id]
         self.joint_lower_limit = correspond_joint_info["lower_bound"]
         self.joint_upper_limit = correspond_joint_info["upper_bound"]
         self.move_distance = -0.005 + abs(self.joint_lower_limit - self.joint_upper_limit) * self.joint_position_threshold
         self.joint_axis = correspond_joint_info["joint_axis"]
         self.joint_type = correspond_joint_info["joint_type"]
         assert self.joint_type == 'prismatic', "joint_type must be prismatic for press action"
-        correspond_joint_info = passive_obj.joints_info[self.correspond_joint_id]
+        correspond_joint_info = self.passive_obj.joints_info[self.correspond_joint_id]
         self.generate_substage(target_pose, vector_direction)
 
         
@@ -31,4 +31,7 @@ class PressPrismaticStage(StageTemplate):
         
         move_pose = target_pose.copy()
         move_pose[:3,3] += vector_direction * self.move_distance
-        self.sub_stages.append([move_pose, None, np.eye(4), 'Simple'])
\ No newline at end of file
+        self.sub_stages.append([move_pose, None, np.eye(4), 'Simple'])
+        free_delta_pose = np.eye(4)
+        free_delta_pose[2,3] = -0.03
+        self.sub_stages.append([free_delta_pose, "open", np.eye(4), 'local_gripper'])
\ No newline at end of file
diff --git a/data_gen_dependencies/action/pull_revolute.py b/data_gen_dependencies/action/pull_revolute.py
index b4cc9ba..e33622b 100644
--- a/data_gen_dependencies/action/pull_revolute.py
+++ b/data_gen_dependencies/action/pull_revolute.py
@@ -1,28 +1,36 @@
+import os
 import numpy as np
-
+from scipy.spatial.transform import Rotation as R
 from data_gen_dependencies.action.base import StageTemplate
 
 
 class PullRevoluteStage(StageTemplate):
-    DELTA_DISTANCE = 0.005  # meter
-    def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), extra_params=None, active_obj=None, passive_obj=None, **kwargs):
+    DELTA_DISTANCE = 0.003  # meter
+    def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), extra_params=None, objects=[], **kwargs):
         super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
-        #======= DEBUG START =======
-        print(f'debug: PullRevoluteStage init')
-        import ipdb;ipdb.set_trace()
-        #=======  DEBUG END  =======
-        self.passive_obj = passive_obj
-        self.active_obj = active_obj
+        #import ipdb;ipdb.set_trace()
+        self.objects = objects
+        self.passive_obj = objects[passive_obj_id]
+        self.active_obj = objects[active_obj_id]
+        main_part_name= passive_element["part_id"]
+        self.obj_base = os.path.dirname(passive_obj_id)
+        main_part_id = os.path.join(self.obj_base, main_part_name)
+        if main_part_id not in objects:
+            raise ValueError(f"Cannot find main part {main_part_name} in objects")
+        self.root_id = os.path.join(self.obj_base, "root")
+        self.main_part_obj = objects[main_part_id]
+        self.root_obj = objects[self.root_id]
+        self.revolute_radius = np.linalg.norm(self.passive_obj.obj_pose[:3,3] - self.main_part_obj.obj_pose[:3,3])
+        self.revolute_joint_position = self.main_part_obj.obj_pose[:3,3]
         self.joint_position_threshold = passive_element.get('joint_position_threshold', 0.7)
         self.correspond_joint_id = passive_element.get('correspond_joint_id', None)
-        correspond_joint_info = passive_obj.joints_info[self.correspond_joint_id]
+        correspond_joint_info = self.passive_obj.joints_info[self.correspond_joint_id]
+        
         self.joint_lower_limit = correspond_joint_info["lower_bound"]
         self.joint_upper_limit = correspond_joint_info["upper_bound"]
         self.joint_axis = correspond_joint_info["joint_axis"]
         self.joint_type = correspond_joint_info["joint_type"]
         assert self.joint_type == 'revolute', "joint_type must be revolute for pull_revolute action"
-        self.revolute_radius = passive_element.get('revolute_radius', None)
-        assert self.revolute_radius is not None, "revolute_radius is required for pull_revolute action"
         if self.joint_position_threshold is None:
             self.joint_position_threshold = 0.7
         assert self.joint_position_threshold >= 0 and self.joint_position_threshold <= 1 
@@ -36,54 +44,82 @@ class PullRevoluteStage(StageTemplate):
         self.extra_params = {} if extra_params is None else extra_params
         self.generate_substage(target_pose, vector_direction)
 
-    def generate_substage(self, target_pose, vector_direction):
+    def generate_substage(self, gripper2obj, vector_direction):
         vector_direction = vector_direction / np.linalg.norm(vector_direction)
-        #trajectory = self.test_generate_trajectory(vector_direction)
-        #trajectory = self.test_generate_trajectory(vector_direction)
         total_angle = self.joint_position_threshold * (self.joint_upper_limit - self.joint_lower_limit)
         arc_length = abs(self.revolute_radius * total_angle)
         step = int(arc_length / self.DELTA_DISTANCE)
         from pyboot.utils.log import Log
         Log.debug(f'PullRevoluteStage: total_angle={total_angle}, arc_length={arc_length}, step={step}')
-        for i in range(10):
-            free_delta_pose = np.eye(4)
-            free_delta_pose[2,3] = -self.DELTA_DISTANCE
-
-            self.sub_stages.append([target_pose, None, np.eye(4), 'AvoidObs'])
-            self.sub_stages.append([free_delta_pose, None, np.eye(4), 'local_gripper'])
+        trajectory = self.generate_trajectory(gripper2obj, vector_direction)
+        self.save_visualized_gripper_trajectory(trajectory, "pull_revolute_traj.txt")
+        
+        self.sub_stages.append([trajectory, None, np.eye(4), 'Trajectory'])
         self.sub_stages.append([None, "open", np.eye(4), 'Simple'])
 
         free_delta_pose = np.eye(4)
-        free_delta_pose[2,3] = -self.DELTA_DISTANCE
+        free_delta_pose[2,3] = -0.03
         self.sub_stages.append([free_delta_pose, None, np.eye(4), 'local_gripper'])
 
 
-    def generate_trajectory(self, init_vector_direction):
+
+    def generate_trajectory(self, gripper2passive_obj, init_vector_direction):
         trajectory = []
-        #======= DEBUG START =======
-        print(f'debug: ')
-        import ipdb;ipdb.set_trace()
-        #=======  DEBUG END  =======
         total_angle = self.joint_position_threshold * (self.joint_upper_limit - self.joint_lower_limit)
         total_angle *= self.joint_direction 
 
         arc_length = abs(self.revolute_radius * total_angle)
-
         num_steps = int(np.ceil(arc_length / self.DELTA_DISTANCE))
         if num_steps < 1:
             num_steps = 1
 
         delta_theta = total_angle / num_steps
-        rotation_axis = np.array(self.joint_axis)
-        current_pose = start_pose.copy()
-        trajectory.append(current_pose)
+        rotation_axis = np.array(self.joint_axis, dtype=float)
+        rotation_axis /= np.linalg.norm(rotation_axis) 
+
+        passive_obj_2_root = np.linalg.inv(self.root_obj.obj_pose) @ self.passive_obj.obj_pose
+        gripper_2_root = passive_obj_2_root @ gripper2passive_obj
+        pos0 = gripper_2_root[:3, 3]
+        R0 = gripper_2_root[:3, :3]
+
+        joint_2_root = np.linalg.inv(self.root_obj.obj_pose) @ self.main_part_obj.obj_pose
+
+        pivot = joint_2_root[:3, 3]
 
         for i in range(1, num_steps + 1):
             angle = i * delta_theta
-            R = self.axis_angle_to_matrix(rotation_axis, angle)
-            move_pose = start_pose @ R
-            trajectory.append(move_pose)
-        return trajectory
+            R_delta = R.from_rotvec(rotation_axis * angle).as_matrix()
+            pos_rot = R_delta @ (pos0 - pivot) + pivot
+            R_new = R_delta @ R0
+
+            waypoint_2_root = np.eye(4)
+            waypoint_2_root[:3, :3] = R_new
+            waypoint_2_root[:3, 3] = pos_rot
+            waypoint_2_obj = np.linalg.inv(passive_obj_2_root) @ waypoint_2_root
+            trajectory.append(waypoint_2_obj)
+        return np.asarray(trajectory)
+
+    def save_visualized_gripper_trajectory(self, gripper_trajectory, save_path):
+        #import ipdb; ipdb.set_trace()
+        N = len(gripper_trajectory)
+        gripper_pts = np.zeros((1, 60, 3))
+        for i in range(10):
+            gripper_pts[0, i] = np.array([0, 0.01, 0.002*i])
+            gripper_pts[0, i+10] = np.array([0, 0.01, 0.002*i + 0.001])
+            gripper_pts[0, i+20] = np.array([0, -0.01, 0.002*i])
+            gripper_pts[0, i+30] = np.array([0, -0.01, 0.002*i + 0.001])
+            gripper_pts[0, i+40] = np.array([0, -0.01 + 0.002 * i, 0])
+        for i in range(5):
+            gripper_pts[0, i+50] = np.array([0, 0, -0.002*i])
+            gripper_pts[0, i+55] = np.array([0, 0, -0.002*i + 0.001])
+        gripper_pts -= np.array([0, 0, 0.002*10 + 0.001])
+        gripper_pts = gripper_pts.repeat(N, axis=0)
+        gripper_trajectory = gripper_trajectory.reshape(N, 1, 4, 4)
+        gripper_trajectory = gripper_trajectory.repeat(60, axis=1)
+        gripper_pts = gripper_pts.reshape(-1, 3)
+        gripper_trajectory = gripper_trajectory.reshape(-1, 4, 4)
+        gripper_pts_2_obj =  (gripper_trajectory[:, :3, :3] @ gripper_pts[..., None]).squeeze(-1)+ gripper_trajectory[:, :3, 3]
+        np.savetxt(save_path, gripper_pts_2_obj, fmt="%.6f")
 
     def axis_angle_to_matrix(self, axis, angle):
 
diff --git a/data_gen_dependencies/action/push_revolute.py b/data_gen_dependencies/action/push_revolute.py
new file mode 100644
index 0000000..0d2a1fa
--- /dev/null
+++ b/data_gen_dependencies/action/push_revolute.py
@@ -0,0 +1,146 @@
+import os
+import numpy as np
+from scipy.spatial.transform import Rotation as R
+from data_gen_dependencies.action.base import StageTemplate
+
+
+class PushRevoluteStage(StageTemplate):
+    DELTA_DISTANCE = 0.003  # meter
+    def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), extra_params=None, objects=[], **kwargs):
+        super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
+        #import ipdb;ipdb.set_trace()
+        self.objects = objects
+        self.passive_obj = objects[passive_obj_id]
+        self.active_obj = objects[active_obj_id]
+        main_part_name= passive_element["part_id"]
+        self.obj_base = os.path.dirname(passive_obj_id)
+        main_part_id = os.path.join(self.obj_base, main_part_name)
+        if main_part_id not in objects:
+            raise ValueError(f"Cannot find main part {main_part_name} in objects")
+        self.root_id = os.path.join(self.obj_base, "root")
+        self.main_part_obj = objects[main_part_id]
+        self.root_obj = objects[self.root_id]
+        self.revolute_radius = np.linalg.norm(self.passive_obj.obj_pose[:3,3] - self.main_part_obj.obj_pose[:3,3])
+        self.revolute_joint_position = self.main_part_obj.obj_pose[:3,3]
+        self.joint_position_threshold = passive_element.get('joint_position_threshold', 0.7)
+        self.correspond_joint_id = passive_element.get('correspond_joint_id', None)
+        correspond_joint_info = self.passive_obj.joints_info[self.correspond_joint_id]
+        
+        self.joint_lower_limit = correspond_joint_info["lower_bound"]
+        self.joint_upper_limit = correspond_joint_info["upper_bound"]
+        self.joint_axis = correspond_joint_info["joint_axis"]
+        self.joint_type = correspond_joint_info["joint_type"]
+        assert self.joint_type == 'revolute', "joint_type must be revolute for pull_revolute action"
+        if self.joint_position_threshold is None:
+            self.joint_position_threshold = 0.7
+        assert self.joint_position_threshold >= 0 and self.joint_position_threshold <= 1 
+
+        self.joint_direction = passive_element.get('joint_direction', 1)
+        assert self.joint_direction in [-1, 1]
+
+        self.joint_velocity_threshold = passive_element.get('joint_velocity_threshold', 999)
+        vector_direction = passive_element['direction']
+
+        self.extra_params = {} if extra_params is None else extra_params
+        self.generate_substage(target_pose, vector_direction)
+
+    def generate_substage(self, gripper2obj, vector_direction):
+        vector_direction = vector_direction / np.linalg.norm(vector_direction)
+        total_angle = self.joint_position_threshold * (self.joint_upper_limit - self.joint_lower_limit)
+        arc_length = abs(self.revolute_radius * total_angle)
+        step = int(arc_length / self.DELTA_DISTANCE)
+        from pyboot.utils.log import Log
+        Log.debug(f'PullRevoluteStage: total_angle={total_angle}, arc_length={arc_length}, step={step}')
+        trajectory = self.generate_trajectory(gripper2obj, vector_direction)
+        self.save_visualized_gripper_trajectory(trajectory, "pull_revolute_traj.txt")
+        
+        self.sub_stages.append([trajectory, None, np.eye(4), 'Trajectory'])
+        self.sub_stages.append([None, "open", np.eye(4), 'Simple'])
+
+        free_delta_pose = np.eye(4)
+        free_delta_pose[2,3] = -self.DELTA_DISTANCE
+        self.sub_stages.append([free_delta_pose, None, np.eye(4), 'local_gripper'])
+
+
+
+    def generate_trajectory(self, gripper2passive_obj, init_vector_direction):
+        trajectory = []
+        total_angle = self.joint_position_threshold * (self.joint_upper_limit - self.joint_lower_limit)
+        total_angle *= self.joint_direction 
+
+        arc_length = abs(self.revolute_radius * total_angle)
+        num_steps = int(np.ceil(arc_length / self.DELTA_DISTANCE))
+        if num_steps < 1:
+            num_steps = 1
+
+        delta_theta = total_angle / num_steps
+        rotation_axis = np.array(self.joint_axis, dtype=float)
+        rotation_axis /= np.linalg.norm(rotation_axis) 
+
+        passive_obj_2_root = np.linalg.inv(self.root_obj.obj_pose) @ self.passive_obj.obj_pose
+        gripper_2_root = passive_obj_2_root @ gripper2passive_obj
+        pos0 = gripper_2_root[:3, 3]
+        R0 = gripper_2_root[:3, :3]
+
+        joint_2_root = np.linalg.inv(self.root_obj.obj_pose) @ self.main_part_obj.obj_pose
+
+        pivot = joint_2_root[:3, 3]
+
+        for i in range(1, num_steps + 1):
+            angle = i * delta_theta
+            R_delta = R.from_rotvec(rotation_axis * angle).as_matrix()
+            pos_rot = R_delta @ (pos0 - pivot) + pivot
+            R_new = R_delta @ R0
+
+            waypoint_2_root = np.eye(4)
+            waypoint_2_root[:3, :3] = R_new
+            waypoint_2_root[:3, 3] = pos_rot
+            waypoint_2_obj = np.linalg.inv(passive_obj_2_root) @ waypoint_2_root
+            trajectory.append(waypoint_2_obj)
+        return np.asarray(trajectory)
+
+    def save_visualized_gripper_trajectory(self, gripper_trajectory, save_path):
+        #import ipdb; ipdb.set_trace()
+        N = len(gripper_trajectory)
+        gripper_pts = np.zeros((1, 60, 3))
+        for i in range(10):
+            gripper_pts[0, i] = np.array([0, 0.01, 0.002*i])
+            gripper_pts[0, i+10] = np.array([0, 0.01, 0.002*i + 0.001])
+            gripper_pts[0, i+20] = np.array([0, -0.01, 0.002*i])
+            gripper_pts[0, i+30] = np.array([0, -0.01, 0.002*i + 0.001])
+            gripper_pts[0, i+40] = np.array([0, -0.01 + 0.002 * i, 0])
+        for i in range(5):
+            gripper_pts[0, i+50] = np.array([0, 0, -0.002*i])
+            gripper_pts[0, i+55] = np.array([0, 0, -0.002*i + 0.001])
+        gripper_pts -= np.array([0, 0, 0.002*10 + 0.001])
+        gripper_pts = gripper_pts.repeat(N, axis=0)
+        gripper_trajectory = gripper_trajectory.reshape(N, 1, 4, 4)
+        gripper_trajectory = gripper_trajectory.repeat(60, axis=1)
+        gripper_pts = gripper_pts.reshape(-1, 3)
+        gripper_trajectory = gripper_trajectory.reshape(-1, 4, 4)
+        gripper_pts_2_obj =  (gripper_trajectory[:, :3, :3] @ gripper_pts[..., None]).squeeze(-1)+ gripper_trajectory[:, :3, 3]
+        np.savetxt(save_path, gripper_pts_2_obj, fmt="%.6f")
+
+    def axis_angle_to_matrix(self, axis, angle):
+
+        axis = axis / np.linalg.norm(axis)
+        K = np.array([[0, -axis[2], axis[1]],
+                      [axis[2], 0, -axis[0]],
+                      [-axis[1], axis[0], 0]])
+        R = np.eye(3) + np.sin(angle) * K + (1 - np.cos(angle)) * (K @ K)
+        T = np.eye(4)
+        T[:3, :3] = R
+        return T
+
+    def check_completion(self, objects):
+        if self.__len__() == 0:
+            return True
+
+        succ = False
+        if self.step_id >= 0:
+            succ = True
+
+        if succ:
+            self.step_id += 1
+
+        return succ
\ No newline at end of file
diff --git a/data_gen_dependencies/action/twist.py b/data_gen_dependencies/action/twist.py
index 4086aad..263a664 100644
--- a/data_gen_dependencies/action/twist.py
+++ b/data_gen_dependencies/action/twist.py
@@ -5,20 +5,24 @@ from data_gen_dependencies.action.base import StageTemplate
 
 class TwistStage(StageTemplate):
     DELTA_DISTANCE = 0.01  # meter
-    def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), extra_params=None, active_obj=None, passive_obj=None, **kwargs):
+    def __init__(self, active_obj_id, passive_obj_id, active_element=None, passive_element=None, target_pose=np.eye(4), extra_params=None, objects = [], **kwargs):
         super().__init__(active_obj_id, passive_obj_id, active_element, passive_element)
-        self.passive_obj = passive_obj
-        self.active_obj = active_obj
+        self.passive_obj = objects[passive_obj_id]
+        self.active_obj = objects[active_obj_id]
         self.joint_position_threshold = passive_element.get('joint_position_threshold', 0.7)
+        if self.joint_position_threshold is None:
+            self.joint_position_threshold = 0.7
         self.correspond_joint_id = passive_element.get('correspond_joint_id', None)
-        correspond_joint_info = passive_obj.joints_info[self.correspond_joint_id]
+        correspond_joint_info = self.passive_obj.joints_info[self.correspond_joint_id]
         self.joint_lower_limit = correspond_joint_info["lower_bound"]
         self.joint_upper_limit = correspond_joint_info["upper_bound"]
+        if self.joint_lower_limit is None or self.joint_upper_limit is None:
+            self.twist_degree_range = np.pi
+        else:
+            self.twist_degree_range = abs(self.joint_upper_limit - self.joint_lower_limit)
         self.joint_axis = correspond_joint_info["joint_axis"]
         self.joint_type = correspond_joint_info["joint_type"]
-        assert self.joint_type == 'revolute', "joint_type must be revolute for pull_revolute action"
-        self.revolute_radius = passive_element.get('revolute_radius', None)
-        assert self.revolute_radius is not None, "revolute_radius is required for pull_revolute action"
+        assert self.joint_type == 'continuous', "joint_type must be continuous for twist action"
         if self.joint_position_threshold is None:
             self.joint_position_threshold = 0.7
         assert self.joint_position_threshold >= 0 and self.joint_position_threshold <= 1 
@@ -34,9 +38,20 @@ class TwistStage(StageTemplate):
 
     def generate_substage(self, target_pose, vector_direction):
         vector_direction = vector_direction / np.linalg.norm(vector_direction)
-        free_delta_pose = np.eye(4)
-        free_delta_pose[2,3] = -0.03
-        self.sub_stages.append([free_delta_pose, None, np.eye(4), 'local_gripper'])
+        delta_twist_pose = self.axis_angle_to_matrix(np.asarray([0,0,1]), self.twist_degree_range * self.joint_position_threshold * self.joint_direction)
+        import ipdb;ipdb.set_trace()
+        self.sub_stages.append([delta_twist_pose, None, np.eye(4), 'local_gripper'])
+
+    def axis_angle_to_matrix(self, axis, angle):
+
+        axis = axis / np.linalg.norm(axis)
+        K = np.array([[0, -axis[2], axis[1]],
+                      [axis[2], 0, -axis[0]],
+                      [-axis[1], axis[0], 0]])
+        R = np.eye(3) + np.sin(angle) * K + (1 - np.cos(angle)) * (K @ K)
+        T = np.eye(4)
+        T[:3, :3] = R
+        return T
 
     def check_completion(self, objects):
         if self.__len__() == 0:
diff --git a/data_gen_dependencies/manip_solver.py b/data_gen_dependencies/manip_solver.py
index e952fe2..bb8415a 100644
--- a/data_gen_dependencies/manip_solver.py
+++ b/data_gen_dependencies/manip_solver.py
@@ -286,7 +286,7 @@ def parse_stage(stage, objects):
     active_obj = objects[active_obj_id]
     passive_obj = objects[passive_obj_id]
 
-    single_obj = action in ['pull', 'rotate', 'slide', 'shave', 'brush', 'wipe', 'pull_revolute']
+    single_obj = action in ['pull', 'rotate', 'slide', 'shave', 'brush', 'wipe', 'pull_revolute', "twist"]
 
     def _load_element(obj, type):
 
@@ -345,7 +345,7 @@ def select_obj(objects, stages, robot):
     if stages[0]['action'] in ['push', 'reset', 'press_prismatic']:
         gripper2obj = current_gripper_pose
 
-    elif stages[0]['action'] in ['pick', 'grasp', 'hook', "pull_revolute"]:
+    elif stages[0]['action'] in ['pick', 'grasp', 'hook', "pull_revolute", "twist"]:
         action = stages[0]['action']
 
         ''' 筛掉无IK解的grasp pose '''
@@ -375,7 +375,6 @@ def select_obj(objects, stages, robot):
         if len(grasp_poses) == 0:
             print(action, 'No grasp_gripper_pose can pass Isaac IK')
             return []
-
     ''' 基于有IK解的grasp pose分数,选择最优的passive primitive element,同时选出最优的一个grasp pose'''
     if grasp_stage_id is not None:
         next_stage_id = grasp_stage_id + 1
@@ -404,7 +403,7 @@ def select_obj(objects, stages, robot):
                 active_elements = [{'xyz': xyz_canonical, 'direction': direction_canonical}]
 
 
-            # import ipdb; ipdb.set_trace()
+            #import ipdb; ipdb.set_trace()
             t0 = time.time()
             element_ik_score = []
             grasp_pose_ik_score = []
@@ -549,7 +548,7 @@ def generate_action_stages(objects, all_stages, robot):
                 substages = True
             elif action in ['pick', 'grasp', 'hook']:
                 substages = build_stage(action)(active_obj_id, passive_obj_id, active_elements, passive_elements,
-                                                gripper2obj, extra_params=stage.get('extra_params', None), active_obj=active_obj, passive_obj=passive_obj)
+                                                gripper2obj, extra_params=stage.get('extra_params', None), objects=objects)
             elif action in ['slide', 'shave', 'brush', 'wipe', 'pull', 'rotate', 'move',
                             'reset', "pull_revolute", "twist"]:  # grasp + 物体自身运动
                 passive_element = passive_elements[np.random.choice(len(passive_elements))]
@@ -557,8 +556,7 @@ def generate_action_stages(objects, all_stages, robot):
                     active_obj_id=active_obj_id,
                     passive_obj_id=passive_obj_id,
                     passive_element=passive_element,
-                    active_obj=active_obj,
-                    passive_obj=passive_obj,
+                    objects=objects,
                     target_pose=gripper2obj
                 )
             else:
@@ -642,8 +640,7 @@ def generate_action_stages(objects, all_stages, robot):
                         vector_direction=passive_element['direction'],
                         passive_element=passive_element,
                         extra_params=stage.get('extra_params', {}),
-                        active_obj=active_obj,
-                        passive_obj=passive_obj
+                        objects=objects
                     )
                     break
 
diff --git a/data_gen_dependencies/object.py b/data_gen_dependencies/object.py
index 7a35997..121a782 100644
--- a/data_gen_dependencies/object.py
+++ b/data_gen_dependencies/object.py
@@ -67,9 +67,9 @@ class OmniObject:
                     "xyz": np.array([0, 0, 0]),
                     "direction": np.array([0, 0, 0.08]),
                 },
-                'rotate': {
+                'twist': {
                     "part": "finger edge",
-                    "task": "rotate",
+                    "task": "twist",
                     "xyz": np.array([0, 0, 0]),
                     "direction": np.array([0, 0, 0.08]),
                 }
diff --git a/data_gen_dependencies/omniagent.py b/data_gen_dependencies/omniagent.py
index 08d7f72..d2d6b42 100644
--- a/data_gen_dependencies/omniagent.py
+++ b/data_gen_dependencies/omniagent.py
@@ -82,26 +82,27 @@ class Agent(BaseAgent):
         target_lookat_point = np.mean(np.stack(target_lookat_point), axis=0)
         self.robot.client.SetTargetPoint(target_lookat_point.tolist())
 
-        Log.info('Setting material [Generating layout: 3/5]')
+        #Log.info('Setting material [Generating layout: 3/5]')
+        Log.warning('Pass setting material [Generating layout: 3/5]')
         ''' Set material '''
-        material_infos = []
-        if "object_with_material" in task_info:
-            for key in task_info['object_with_material']:
-                material_infos += task_info['object_with_material'][key]
-            if len(material_infos):
-                self.robot.client.SetMaterial(material_infos)
-                time.sleep(0.3)
-
-        Log.info('Setting light [Generating layout: 4/5]')
+        # material_infos = []
+        # if "object_with_material" in task_info:
+        #     for key in task_info['object_with_material']:
+        #         material_infos += task_info['object_with_material'][key]
+        #     if len(material_infos):
+        #         self.robot.client.SetMaterial(material_infos)
+        #         time.sleep(0.3)
 
+        #Log.info('Setting light [Generating layout: 4/5]')
+        Log.warning('Pass setting light [Generating layout: 4/5]')
         ''' Set light '''
-        light_infos = []
-        if "lights" in task_info:
-            for key in task_info['lights']:
-                light_infos += task_info['lights'][key]
-            if len(light_infos):
-                self.robot.client.SetLight(light_infos)
-                time.sleep(0.3)
+        # light_infos = []
+        # if "lights" in task_info:
+        #     for key in task_info['lights']:
+        #         light_infos += task_info['lights'][key]
+        #     if len(light_infos):
+        #         self.robot.client.SetLight(light_infos)
+        #         time.sleep(0.3)
 
         Log.info('Setting camera [Generating layout: 5/5]')
         ''' Set camera'''
@@ -228,7 +229,7 @@ class Agent(BaseAgent):
             #print('Reset pose:', self.robot.reset_pose)
 
             task_info = json.load(open(task_file, 'rb'))
-            
+            import ipdb; ipdb.set_trace()
             stages, objects = load_task_solution(task_info)
             objects = self.update_objects(objects)
             split_stages = split_grasp_stages(stages)
@@ -257,6 +258,7 @@ class Agent(BaseAgent):
                 success = True
                 last_gripper_state = None
                 for action, substages in action_stages:
+                    
                     stage_id += 1
                     Log.info(f'Start action stage: {action} [Executing task: {stage_id+1}/{len(action_stages)}]')
 
@@ -270,11 +272,15 @@ class Agent(BaseAgent):
                         interp_pose[:3, 3] = curr_pose[:3, 3] + (init_pose[:3, 3] - curr_pose[:3, 3]) * 0.25
                         success = self.robot.move_pose(self.robot.reset_pose[arm], type='AvoidObs', arm=arm, block=True)
                         continue
-
+                    substage_id = 0
+                    substage_len = len(substages)
                     while len(substages):
                         objects = self.update_objects(objects, arm=arm)
-
+                        substage_id += 1
+                        
                         target_gripper_pose, motion_type, gripper_action, arm = substages.get_action(objects)
+                        target_gripper_pos = None if target_gripper_pose is None else target_gripper_pose[:3, 3]
+                        Log.info(f'-- ({action}) Sub-stage {substage_id}/{substage_len}: target_pos={target_gripper_pos}, motion_type={motion_type}, gripper_action={gripper_action}, arm={arm}')
                         arm = extra_params.get('arm', 'right')
                         self.robot.client.set_frame_state(action, substages.step_id, active_id, passive_id,
                                                           self.attached_obj_id is not None, arm=arm,
diff --git a/pull_revolute_traj.txt b/pull_revolute_traj.txt
new file mode 100644
index 0000000..aced0e9
--- /dev/null
+++ b/pull_revolute_traj.txt
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