From ab024afb30069518046817bdb3d4aae9a3aaf4e6 Mon Sep 17 00:00:00 2001
From: zpff <s@u.da>
Date: Tue, 12 Aug 2025 15:44:55 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E6=B7=BB=E5=8A=A0=E8=83=BD=E5=8A=9B?=
 =?UTF-8?q?=E5=88=97=E8=A1=A8?=
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---
 model_mgr/model_types.py    |  3 ++-
 scene/grasp_box/config.json |  3 ++-
 test.py                     | 11 ++---------
 3 files changed, 6 insertions(+), 11 deletions(-)

diff --git a/model_mgr/model_types.py b/model_mgr/model_types.py
index 8025485..3652821 100644
--- a/model_mgr/model_types.py
+++ b/model_mgr/model_types.py
@@ -163,7 +163,8 @@ class Model:
         self.id = data.get("id", self.id)
         self.pose.overwrite_from_dict(data.get("pose", {}))
         self.description = data.get("description", self.description)
-        self.ability_code = data.get("ability_code", self.ability_code)
+        if "ability_code" in data:
+            self.ability_code = data["ability_code"]
         self.tag_id = data.get("tag_id", self.tag_id)
         self.mass = data.get("mass", self.mass)
         self.size.overwrite_from_dict(data.get("size", {}))
diff --git a/scene/grasp_box/config.json b/scene/grasp_box/config.json
index ce05973..e8392c1 100644
--- a/scene/grasp_box/config.json
+++ b/scene/grasp_box/config.json
@@ -5,7 +5,8 @@
             "id": 1,
             "name": "biped_s42",
             "obj_type": 1,
-            "description": "a biped robot model"
+            "description": "a biped robot model",
+            "ability_code": ["move", "both_grab", "both_place", "identify", "turn", "head"]
         },
         {
             "gen": true,
diff --git a/test.py b/test.py
index f43e674..3a524f2 100644
--- a/test.py
+++ b/test.py
@@ -14,12 +14,5 @@ from model_mgr.manager import ModelManager
 from scene_mgr.manager import SceneManager
 
 scene_mgr = SceneManager()
-model_mgr = ModelManager()
-
-model_mgr.load_models(scene_mgr.scene_id_dict[1].preload_models)
-models = model_mgr.get_all_models()
-print([x.to_dict() for x in models])
-time.sleep(30)
-for model in models:
-    if model.name != 'biped_s42':
-        model_mgr.remove_model(model.id)
+pr = scene_mgr.scene_id_dict[1].preload_models
+print(f'preload models: {[m.model.to_dict() for m in pr]}')