Forgive my english. I had no clue how to phrase the question.
What I meant is that...If the term "Interact with" mean having an effect on each other, do "taking an object" and "opening a door" also mean interacting on each other then?
No. If I am taking an object or opening a door, there is no interaction. The object and the door are the passive recipients of my actions; they do nothing to me. If my wife and I talk, fight or kiss, we are interacting.