From 9b0a5eed78c0afb0205a106849b89db73539eb8b Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Mon, 2 Mar 2026 18:49:38 +0800
Subject: [PATCH 01/14] usd example

---
 embodichain/lab/sim/cfg.py                  |  16 ++
 embodichain/lab/sim/objects/articulation.py |  73 ++++-----
 embodichain/lab/sim/objects/rigid_object.py |   7 +-
 embodichain/lab/sim/sim_manager.py          |  56 ++++++-
 embodichain/lab/sim/utility/sim_utils.py    |  22 +++
 scripts/tutorials/sim/import_usd.py         | 164 ++++++++++++++++++++
 6 files changed, 293 insertions(+), 45 deletions(-)
 create mode 100644 scripts/tutorials/sim/import_usd.py

diff --git a/embodichain/lab/sim/cfg.py b/embodichain/lab/sim/cfg.py
index 440e525c..f857e916 100644
--- a/embodichain/lab/sim/cfg.py
+++ b/embodichain/lab/sim/cfg.py
@@ -546,6 +546,14 @@ class RigidObjectCfg(ObjectBaseCfg):
     body_scale: Union[tuple, list] = (1.0, 1.0, 1.0)
     """Scale of the rigid body in the simulation world frame."""
 
+    use_usd_properties: bool = False
+    """Whether to use physical properties from USD file instead of config.
+    
+    When True: Keep all physical properties (drive, physics attrs, etc.) from USD file.
+    When False (default): Override USD properties with config values (URDF behavior).
+    Only effective for USD files, ignored for URDF files.
+    """
+
     def to_dexsim_body_type(self) -> ActorType:
         """Convert the body type to dexsim ActorType."""
         if self.body_type == "dynamic":
@@ -1017,6 +1025,14 @@ class ArticulationCfg(ObjectBaseCfg):
     
     Currently, the uv mapping is computed for each link with projection uv mapping method.
     """
+    
+    use_usd_properties: bool = False
+    """Whether to use physical properties from USD file instead of config.
+    
+    When True: Keep all physical properties (drive, physics attrs, etc.) from USD file.
+    When False (default): Override USD properties with config values (URDF behavior).
+    Only effective for USD files, ignored for URDF files.
+    """
 
 
 @configclass
diff --git a/embodichain/lab/sim/objects/articulation.py b/embodichain/lab/sim/objects/articulation.py
index d6ebe2aa..12347a65 100644
--- a/embodichain/lab/sim/objects/articulation.py
+++ b/embodichain/lab/sim/objects/articulation.py
@@ -581,42 +581,43 @@ def __init__(
         self.cfg: ArticulationCfg
         if self.cfg.init_qpos is None:
             self.cfg.init_qpos = torch.zeros(self.dof, dtype=torch.float32)
-
-        # Set articulation configuration in DexSim
-        set_dexsim_articulation_cfg(entities, self.cfg)
-
-        # Init joint drive parameters.
-        num_entities = len(entities)
-        dof = self._data.dof
-        default_cfg = JointDrivePropertiesCfg()
-        self.default_joint_damping = torch.full(
-            (num_entities, dof), default_cfg.damping, dtype=torch.float32, device=device
-        )
-        self.default_joint_stiffness = torch.full(
-            (num_entities, dof),
-            default_cfg.stiffness,
-            dtype=torch.float32,
-            device=device,
-        )
-        self.default_joint_max_effort = torch.full(
-            (num_entities, dof),
-            default_cfg.max_effort,
-            dtype=torch.float32,
-            device=device,
-        )
-        self.default_joint_max_velocity = torch.full(
-            (num_entities, dof),
-            default_cfg.max_velocity,
-            dtype=torch.float32,
-            device=device,
-        )
-        self.default_joint_friction = torch.full(
-            (num_entities, dof),
-            default_cfg.friction,
-            dtype=torch.float32,
-            device=device,
-        )
-        self._set_default_joint_drive()
+                    
+        if not cfg.use_usd_properties:
+            # Set articulation configuration in DexSim
+            set_dexsim_articulation_cfg(entities, self.cfg)
+
+            # Init joint drive parameters.
+            num_entities = len(entities)
+            dof = self._data.dof
+            default_cfg = JointDrivePropertiesCfg()
+            self.default_joint_damping = torch.full(
+                (num_entities, dof), default_cfg.damping, dtype=torch.float32, device=device
+            )
+            self.default_joint_stiffness = torch.full(
+                (num_entities, dof),
+                default_cfg.stiffness,
+                dtype=torch.float32,
+                device=device,
+            )
+            self.default_joint_max_effort = torch.full(
+                (num_entities, dof),
+                default_cfg.max_effort,
+                dtype=torch.float32,
+                device=device,
+            )
+            self.default_joint_max_velocity = torch.full(
+                (num_entities, dof),
+                default_cfg.max_velocity,
+                dtype=torch.float32,
+                device=device,
+            )
+            self.default_joint_friction = torch.full(
+                (num_entities, dof),
+                default_cfg.friction,
+                dtype=torch.float32,
+                device=device,
+            )
+            self._set_default_joint_drive()
 
         self.pk_chain = None
         if self.cfg.build_pk_chain:
diff --git a/embodichain/lab/sim/objects/rigid_object.py b/embodichain/lab/sim/objects/rigid_object.py
index ac7723f5..46a91b42 100644
--- a/embodichain/lab/sim/objects/rigid_object.py
+++ b/embodichain/lab/sim/objects/rigid_object.py
@@ -211,9 +211,10 @@ def __init__(
         self._visual_material: List[VisualMaterialInst] = [None] * len(entities)
         self.is_shared_visual_material = False
 
-        for entity in entities:
-            entity.set_body_scale(*cfg.body_scale)
-            entity.set_physical_attr(cfg.attrs.attr())
+        if not cfg.use_usd_properties:
+            for entity in entities:
+                entity.set_body_scale(*cfg.body_scale)
+                entity.set_physical_attr(cfg.attrs.attr())
 
         if device.type == "cuda":
             self._world.update(0.001)
diff --git a/embodichain/lab/sim/sim_manager.py b/embodichain/lab/sim/sim_manager.py
index eb29fea6..0f5ff9f4 100644
--- a/embodichain/lab/sim/sim_manager.py
+++ b/embodichain/lab/sim/sim_manager.py
@@ -1041,9 +1041,31 @@ def add_articulation(
         env_list = [self._env] if len(self._arenas) == 0 else self._arenas
         obj_list = []
 
-        for env in env_list:
-            art = env.load_urdf(cfg.fpath)
-            obj_list.append(art)
+        is_usd = cfg.fpath.endswith((".usd", ".usda", ".usdc"))
+        if is_usd:
+            # TODO: currently not supporting multiple arenas for USD
+            env=   self._env       
+            results = env.import_from_usd_file(cfg.fpath, return_object=True)
+            print("USD import results:", results)
+
+            articulations_found = []
+            for key, value in results.items():
+                if isinstance(value, dexsim.engine.Articulation):
+                    articulations_found.append(value)
+
+            if len(articulations_found) == 0:
+                logger.log_error(f"No articulation found in USD file {cfg.fpath}.")
+                return None
+            elif len(articulations_found) > 1:
+                logger.log_error(
+                    f"Multiple articulations found in USD file {cfg.fpath}. "
+                )  
+            elif len(articulations_found) == 1:
+                obj_list.append(articulations_found[0])  
+        else:
+            for env in env_list:
+                art = env.load_urdf(cfg.fpath)
+                obj_list.append(art)
 
         articulation = Articulation(cfg=cfg, entities=obj_list, device=self.device)
 
@@ -1109,9 +1131,31 @@ def add_robot(self, cfg: RobotCfg) -> Robot | None:
         env_list = [self._env] if len(self._arenas) == 0 else self._arenas
         obj_list = []
 
-        for env in env_list:
-            art = env.load_urdf(cfg.fpath)
-            obj_list.append(art)
+        is_usd = cfg.fpath.endswith((".usd", ".usda", ".usdc"))
+        if is_usd:
+            # TODO: currently not supporting multiple arenas for USD
+            env=   self._env       
+            results = env.import_from_usd_file(cfg.fpath, return_object=True)
+            print("USD import results:", results)
+
+            articulations_found = []
+            for key, value in results.items():
+                if isinstance(value, dexsim.engine.Articulation):
+                    articulations_found.append(value)
+
+            if len(articulations_found) == 0:
+                logger.log_error(f"No articulation found in USD file {cfg.fpath}.")
+                return None
+            elif len(articulations_found) > 1:
+                logger.log_error(
+                    f"Multiple articulations found in USD file {cfg.fpath}. "
+                )  
+            elif len(articulations_found) == 1:
+                obj_list.append(articulations_found[0])                                  
+        else:
+            for env in env_list:
+                art = env.load_urdf(cfg.fpath)
+                obj_list.append(art)
 
         robot = Robot(cfg=cfg, entities=obj_list, device=self.device)
 
diff --git a/embodichain/lab/sim/utility/sim_utils.py b/embodichain/lab/sim/utility/sim_utils.py
index 523c7fef..b071da28 100644
--- a/embodichain/lab/sim/utility/sim_utils.py
+++ b/embodichain/lab/sim/utility/sim_utils.py
@@ -219,6 +219,28 @@ def load_mesh_objects_from_cfg(
 
         compute_uv = cfg.shape.compute_uv
 
+        is_usd = fpath.endswith((".usd", ".usda", ".usdc"))
+        if is_usd:
+            # TODO: currently not supporting multiple arenas for USD            
+            _env:dexsim.environment.Env = dexsim.default_world().get_env()
+            results = _env.import_from_usd_file(fpath,return_object=True)
+            print(f"import usd result: {results}")
+
+            rigidbodys_found=[]
+            for key,value in results.items():
+                if isinstance(value, dexsim.cuda.pybind.models.MeshObject):
+                    rigidbodys_found.append(value)
+            if len(rigidbodys_found)==0:
+                logger.log_error(f"No rigid body found in USD file: {fpath}")
+            elif len(rigidbodys_found)>1:
+                logger.log_error(f"Multiple rigid bodies found in USD file: {fpath}.")
+            elif len(rigidbodys_found)==1:
+                obj_list.append(rigidbodys_found[0])
+                return obj_list
+        else:
+            # non-usd file does not support this option, will be ignored if set.
+            cfg.use_usd_properties=False
+
         for i, env in enumerate(env_list):
             if max_convex_hull_num > 1:
                 obj = env.load_actor_with_coacd(
diff --git a/scripts/tutorials/sim/import_usd.py b/scripts/tutorials/sim/import_usd.py
new file mode 100644
index 00000000..a2de891c
--- /dev/null
+++ b/scripts/tutorials/sim/import_usd.py
@@ -0,0 +1,164 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2025 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+"""
+This script demonstrates how to create a simulation scene using SimulationManager.
+It shows the basic setup of simulation context, adding objects, and sensors.
+"""
+
+import argparse
+import time
+
+from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
+from embodichain.lab.sim.cfg import RigidBodyAttributesCfg
+from embodichain.lab.sim.shapes import CubeCfg, MeshCfg
+from embodichain.lab.sim.objects import RigidObject, RigidObjectCfg,ArticulationCfg,Articulation
+from dexsim.utility.path import get_resources_data_path
+
+
+def main():
+    """Main function to create and run the simulation scene."""
+
+    # Parse command line arguments
+    parser = argparse.ArgumentParser(
+        description="Create a simulation scene with SimulationManager"
+    )
+    parser.add_argument(
+        "--headless",
+        action="store_true",
+        default=False,
+        help="Run simulation in headless mode",
+    )
+    parser.add_argument(
+        "--device", type=str, default="cpu", help="Simulation device (cuda or cpu)"
+    )
+    parser.add_argument(
+        "--enable_rt",
+        action="store_true",
+        default=True,
+        help="Enable ray tracing for better visuals",
+    )
+    args = parser.parse_args()
+
+    # Configure the simulation
+    sim_cfg = SimulationManagerCfg(
+        width=1920,
+        height=1080,
+        headless=True,
+        physics_dt=1.0 / 100.0,  # Physics timestep (100 Hz)
+        sim_device=args.device,
+        enable_rt=args.enable_rt,  # Enable ray tracing for better visuals
+        num_envs=1,
+        arena_space=3.0,
+    )
+
+    # Create the simulation instance
+    sim = SimulationManager(sim_cfg)
+    # Open window when the scene has been set up
+    if not args.headless:
+        sim.open_window()
+
+
+    cube: RigidObject = sim.add_rigid_object(
+        cfg=RigidObjectCfg(
+            uid="cube",
+            shape=CubeCfg(size=[0.1, 0.1, 0.1]),
+            body_type="dynamic",
+            attrs=RigidBodyAttributesCfg(
+                mass=1.0,
+                dynamic_friction=0.5,
+                static_friction=0.5,
+                restitution=0.1,
+            ),
+            init_pos=[0.0, 0.0, 1.0],
+        )
+    )
+
+    usdpath="/home/xiemh/model/004_sugar_box/004_sugar_box_xmh.usda"
+    sugar_box: RigidObject = sim.add_rigid_object(
+        cfg=RigidObjectCfg(
+            uid="sugar_box",
+            shape=MeshCfg(fpath=usdpath),
+            body_type="dynamic",            
+            init_pos=[0.2, 0.2, 1.0],
+            use_usd_properties=True,
+        )
+    )
+
+    # Add objects to the scene
+    h1 :Articulation= sim.add_articulation(
+            cfg=ArticulationCfg(
+                uid="h1",
+                # fpath="/home/xiemh/model/Collected_ur10/ur10.usd",
+                fpath="/home/xiemh/model/Collected_h1/h1.usda",
+                build_pk_chain=False,
+                init_pos=[-0.2, -0.2, 1.0],
+                use_usd_properties=False,
+            )
+        )
+
+    print("[INFO]: Scene setup complete!")
+    print("[INFO]: Press Ctrl+C to stop the simulation")
+
+    # Run the simulation
+    run_simulation(sim)
+
+
+def run_simulation(sim: SimulationManager):
+    """Run the simulation loop.
+
+    Args:
+        sim: The SimulationManager instance to run
+    """
+
+    # Initialize GPU physics if using CUDA
+    if sim.is_use_gpu_physics:
+        sim.init_gpu_physics()
+
+    step_count = 0
+
+    try:
+        last_time = time.time()
+        last_step = 0
+        while True:
+            # Update physics simulation
+            sim.update(step=1)
+            time.sleep(0.03)  # Sleep to limit update rate (optional)
+            step_count += 1
+
+            # Print FPS every second
+            if step_count % 100 == 0:
+                current_time = time.time()
+                elapsed = current_time - last_time
+                fps = (
+                    sim.num_envs * (step_count - last_step) / elapsed
+                    if elapsed > 0
+                    else 0
+                )
+                # print(f"[INFO]: Simulation step: {step_count}, FPS: {fps:.2f}")
+                last_time = current_time
+                last_step = step_count
+
+    except KeyboardInterrupt:
+        print("\n[INFO]: Stopping simulation...")
+    finally:
+        # Clean up resources
+        sim.destroy()
+        print("[INFO]: Simulation terminated successfully")
+
+
+if __name__ == "__main__":
+    main()

From 82f9990eca36cf48c44716f7c958e4ebeb740d28 Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Mon, 2 Mar 2026 18:49:38 +0800
Subject: [PATCH 02/14] code style

---
 embodichain/lab/sim/cfg.py                  |  2 +-
 embodichain/lab/sim/objects/articulation.py |  7 +++--
 embodichain/lab/sim/sim_manager.py          | 12 ++++-----
 embodichain/lab/sim/utility/sim_utils.py    | 18 ++++++-------
 scripts/tutorials/sim/import_usd.py         | 30 ++++++++++++---------
 5 files changed, 38 insertions(+), 31 deletions(-)

diff --git a/embodichain/lab/sim/cfg.py b/embodichain/lab/sim/cfg.py
index f857e916..16bc4445 100644
--- a/embodichain/lab/sim/cfg.py
+++ b/embodichain/lab/sim/cfg.py
@@ -1025,7 +1025,7 @@ class ArticulationCfg(ObjectBaseCfg):
     
     Currently, the uv mapping is computed for each link with projection uv mapping method.
     """
-    
+
     use_usd_properties: bool = False
     """Whether to use physical properties from USD file instead of config.
     
diff --git a/embodichain/lab/sim/objects/articulation.py b/embodichain/lab/sim/objects/articulation.py
index 12347a65..dfd446f7 100644
--- a/embodichain/lab/sim/objects/articulation.py
+++ b/embodichain/lab/sim/objects/articulation.py
@@ -581,7 +581,7 @@ def __init__(
         self.cfg: ArticulationCfg
         if self.cfg.init_qpos is None:
             self.cfg.init_qpos = torch.zeros(self.dof, dtype=torch.float32)
-                    
+
         if not cfg.use_usd_properties:
             # Set articulation configuration in DexSim
             set_dexsim_articulation_cfg(entities, self.cfg)
@@ -591,7 +591,10 @@ def __init__(
             dof = self._data.dof
             default_cfg = JointDrivePropertiesCfg()
             self.default_joint_damping = torch.full(
-                (num_entities, dof), default_cfg.damping, dtype=torch.float32, device=device
+                (num_entities, dof),
+                default_cfg.damping,
+                dtype=torch.float32,
+                device=device,
             )
             self.default_joint_stiffness = torch.full(
                 (num_entities, dof),
diff --git a/embodichain/lab/sim/sim_manager.py b/embodichain/lab/sim/sim_manager.py
index 0f5ff9f4..6f7c89fd 100644
--- a/embodichain/lab/sim/sim_manager.py
+++ b/embodichain/lab/sim/sim_manager.py
@@ -1044,7 +1044,7 @@ def add_articulation(
         is_usd = cfg.fpath.endswith((".usd", ".usda", ".usdc"))
         if is_usd:
             # TODO: currently not supporting multiple arenas for USD
-            env=   self._env       
+            env = self._env
             results = env.import_from_usd_file(cfg.fpath, return_object=True)
             print("USD import results:", results)
 
@@ -1059,9 +1059,9 @@ def add_articulation(
             elif len(articulations_found) > 1:
                 logger.log_error(
                     f"Multiple articulations found in USD file {cfg.fpath}. "
-                )  
+                )
             elif len(articulations_found) == 1:
-                obj_list.append(articulations_found[0])  
+                obj_list.append(articulations_found[0])
         else:
             for env in env_list:
                 art = env.load_urdf(cfg.fpath)
@@ -1134,7 +1134,7 @@ def add_robot(self, cfg: RobotCfg) -> Robot | None:
         is_usd = cfg.fpath.endswith((".usd", ".usda", ".usdc"))
         if is_usd:
             # TODO: currently not supporting multiple arenas for USD
-            env=   self._env       
+            env = self._env
             results = env.import_from_usd_file(cfg.fpath, return_object=True)
             print("USD import results:", results)
 
@@ -1149,9 +1149,9 @@ def add_robot(self, cfg: RobotCfg) -> Robot | None:
             elif len(articulations_found) > 1:
                 logger.log_error(
                     f"Multiple articulations found in USD file {cfg.fpath}. "
-                )  
+                )
             elif len(articulations_found) == 1:
-                obj_list.append(articulations_found[0])                                  
+                obj_list.append(articulations_found[0])
         else:
             for env in env_list:
                 art = env.load_urdf(cfg.fpath)
diff --git a/embodichain/lab/sim/utility/sim_utils.py b/embodichain/lab/sim/utility/sim_utils.py
index b071da28..0f63b482 100644
--- a/embodichain/lab/sim/utility/sim_utils.py
+++ b/embodichain/lab/sim/utility/sim_utils.py
@@ -221,25 +221,25 @@ def load_mesh_objects_from_cfg(
 
         is_usd = fpath.endswith((".usd", ".usda", ".usdc"))
         if is_usd:
-            # TODO: currently not supporting multiple arenas for USD            
-            _env:dexsim.environment.Env = dexsim.default_world().get_env()
-            results = _env.import_from_usd_file(fpath,return_object=True)
+            # TODO: currently not supporting multiple arenas for USD
+            _env: dexsim.environment.Env = dexsim.default_world().get_env()
+            results = _env.import_from_usd_file(fpath, return_object=True)
             print(f"import usd result: {results}")
 
-            rigidbodys_found=[]
-            for key,value in results.items():
+            rigidbodys_found = []
+            for key, value in results.items():
                 if isinstance(value, dexsim.cuda.pybind.models.MeshObject):
                     rigidbodys_found.append(value)
-            if len(rigidbodys_found)==0:
+            if len(rigidbodys_found) == 0:
                 logger.log_error(f"No rigid body found in USD file: {fpath}")
-            elif len(rigidbodys_found)>1:
+            elif len(rigidbodys_found) > 1:
                 logger.log_error(f"Multiple rigid bodies found in USD file: {fpath}.")
-            elif len(rigidbodys_found)==1:
+            elif len(rigidbodys_found) == 1:
                 obj_list.append(rigidbodys_found[0])
                 return obj_list
         else:
             # non-usd file does not support this option, will be ignored if set.
-            cfg.use_usd_properties=False
+            cfg.use_usd_properties = False
 
         for i, env in enumerate(env_list):
             if max_convex_hull_num > 1:
diff --git a/scripts/tutorials/sim/import_usd.py b/scripts/tutorials/sim/import_usd.py
index a2de891c..49e59833 100644
--- a/scripts/tutorials/sim/import_usd.py
+++ b/scripts/tutorials/sim/import_usd.py
@@ -25,7 +25,12 @@
 from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
 from embodichain.lab.sim.cfg import RigidBodyAttributesCfg
 from embodichain.lab.sim.shapes import CubeCfg, MeshCfg
-from embodichain.lab.sim.objects import RigidObject, RigidObjectCfg,ArticulationCfg,Articulation
+from embodichain.lab.sim.objects import (
+    RigidObject,
+    RigidObjectCfg,
+    ArticulationCfg,
+    Articulation,
+)
 from dexsim.utility.path import get_resources_data_path
 
 
@@ -71,7 +76,6 @@ def main():
     if not args.headless:
         sim.open_window()
 
-
     cube: RigidObject = sim.add_rigid_object(
         cfg=RigidObjectCfg(
             uid="cube",
@@ -87,28 +91,28 @@ def main():
         )
     )
 
-    usdpath="/home/xiemh/model/004_sugar_box/004_sugar_box_xmh.usda"
+    usdpath = "/home/xiemh/model/004_sugar_box/004_sugar_box_xmh.usda"
     sugar_box: RigidObject = sim.add_rigid_object(
         cfg=RigidObjectCfg(
             uid="sugar_box",
             shape=MeshCfg(fpath=usdpath),
-            body_type="dynamic",            
+            body_type="dynamic",
             init_pos=[0.2, 0.2, 1.0],
             use_usd_properties=True,
         )
     )
 
     # Add objects to the scene
-    h1 :Articulation= sim.add_articulation(
-            cfg=ArticulationCfg(
-                uid="h1",
-                # fpath="/home/xiemh/model/Collected_ur10/ur10.usd",
-                fpath="/home/xiemh/model/Collected_h1/h1.usda",
-                build_pk_chain=False,
-                init_pos=[-0.2, -0.2, 1.0],
-                use_usd_properties=False,
-            )
+    h1: Articulation = sim.add_articulation(
+        cfg=ArticulationCfg(
+            uid="h1",
+            # fpath="/home/xiemh/model/Collected_ur10/ur10.usd",
+            fpath="/home/xiemh/model/Collected_h1/h1.usda",
+            build_pk_chain=False,
+            init_pos=[-0.2, -0.2, 1.0],
+            use_usd_properties=False,
         )
+    )
 
     print("[INFO]: Scene setup complete!")
     print("[INFO]: Press Ctrl+C to stop the simulation")

From ed8c68ea84eeadf7ae0209556b1c6a83dd2e80e8 Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Mon, 2 Mar 2026 18:49:38 +0800
Subject: [PATCH 03/14] use huggingface assets

---
 embodichain/data/assets/obj_assets.py   | 11 +++++++++++
 embodichain/data/assets/robot_assets.py | 26 +++++++++++++++++++++++++
 scripts/tutorials/sim/import_usd.py     | 18 +++++++++--------
 3 files changed, 47 insertions(+), 8 deletions(-)

diff --git a/embodichain/data/assets/obj_assets.py b/embodichain/data/assets/obj_assets.py
index 75ccf3d9..442cbd46 100644
--- a/embodichain/data/assets/obj_assets.py
+++ b/embodichain/data/assets/obj_assets.py
@@ -215,3 +215,14 @@ def __init__(self, data_root: str = None):
         path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
 
         super().__init__(prefix, data_descriptor, path)
+
+class SugarBox(EmbodiChainDataset):
+    def __init__(self, data_root: str = None):
+        data_descriptor = o3d.data.DataDescriptor(
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, obj_assets, "sugar_box_usd.zip"),
+            "a1bc5075512cedecd08af4f9c3e8f636",
+        )
+        prefix = "SugarBox"
+        path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
+
+        super().__init__(prefix, data_descriptor, path)
diff --git a/embodichain/data/assets/robot_assets.py b/embodichain/data/assets/robot_assets.py
index c979afbc..0fc9cb58 100644
--- a/embodichain/data/assets/robot_assets.py
+++ b/embodichain/data/assets/robot_assets.py
@@ -122,6 +122,32 @@ def __init__(self, data_root: str = None):
         path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
 
         super().__init__(prefix, data_descriptor, path)
+class UnitreeH1Usd(EmbodiChainDataset):
+    """Dataset class for the Unitree H1 robot USD version.
+
+    Directory structure:
+        UnitreeH1Usd/H1_usd
+            h1.usd
+            h1.usda
+
+    Example usage:
+        >>> from embodichain.data.robot_dataset import UnitreeH1Usd
+        >>> dataset = UnitreeH1Usd()
+        or
+        >>> from embodichain.data import get_data_path
+        >>> print(get_data_path("UnitreeH1Usd/H1_usd/h1.usd"))
+        >>> print(get_data_path("UnitreeH1Usd/H1_usd/h1.usda"))
+    """
+
+    def __init__(self, data_root: str = None):
+        data_descriptor = o3d.data.DataDescriptor(
+            os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, robot_assets, "H1_usd.zip"),
+            "9fc19f8c8b4a49398ec661e6ea9877ee",
+        )
+        prefix = "UnitreeH1Usd"
+        path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
+
+        super().__init__(prefix, data_descriptor, path)
 
 
 class ABB(EmbodiChainDataset):
diff --git a/scripts/tutorials/sim/import_usd.py b/scripts/tutorials/sim/import_usd.py
index 49e59833..3e1d5a3b 100644
--- a/scripts/tutorials/sim/import_usd.py
+++ b/scripts/tutorials/sim/import_usd.py
@@ -15,8 +15,9 @@
 # ----------------------------------------------------------------------------
 
 """
-This script demonstrates how to create a simulation scene using SimulationManager.
-It shows the basic setup of simulation context, adding objects, and sensors.
+This script demonstrates how to import USD files into the scene.
+Currently, it supports importing USD files as rigid objects or articulations.
+Multiple arenas are not supported when importing USD files.
 """
 
 import argparse
@@ -31,8 +32,7 @@
     ArticulationCfg,
     Articulation,
 )
-from dexsim.utility.path import get_resources_data_path
-
+from embodichain.data import get_data_path
 
 def main():
     """Main function to create and run the simulation scene."""
@@ -91,11 +91,12 @@ def main():
         )
     )
 
-    usdpath = "/home/xiemh/model/004_sugar_box/004_sugar_box_xmh.usda"
+    sugar_box_path = get_data_path("SugarBox/sugar_box_usd/sugar_box.usda")
+    print(f"Loading USD file from: {sugar_box_path}")
     sugar_box: RigidObject = sim.add_rigid_object(
         cfg=RigidObjectCfg(
             uid="sugar_box",
-            shape=MeshCfg(fpath=usdpath),
+            shape=MeshCfg(fpath=sugar_box_path),
             body_type="dynamic",
             init_pos=[0.2, 0.2, 1.0],
             use_usd_properties=True,
@@ -103,11 +104,12 @@ def main():
     )
 
     # Add objects to the scene
+    h1_path= get_data_path("UnitreeH1Usd/H1_usd/h1.usd")
+    print(f"Loading USD file from: {h1_path}")
     h1: Articulation = sim.add_articulation(
         cfg=ArticulationCfg(
             uid="h1",
-            # fpath="/home/xiemh/model/Collected_ur10/ur10.usd",
-            fpath="/home/xiemh/model/Collected_h1/h1.usda",
+            fpath=h1_path,
             build_pk_chain=False,
             init_pos=[-0.2, -0.2, 1.0],
             use_usd_properties=False,

From f7792f9173a42caa65eda3d5912bea8a9741099d Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Mon, 2 Mar 2026 18:49:38 +0800
Subject: [PATCH 04/14] update

---
 embodichain/lab/sim/objects/articulation.py | 12 ++++++++----
 embodichain/lab/sim/objects/rigid_object.py | 10 +++++++++-
 embodichain/lab/sim/sim_manager.py          |  2 ++
 embodichain/lab/sim/utility/sim_utils.py    |  2 ++
 4 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/embodichain/lab/sim/objects/articulation.py b/embodichain/lab/sim/objects/articulation.py
index dfd446f7..30c334c2 100644
--- a/embodichain/lab/sim/objects/articulation.py
+++ b/embodichain/lab/sim/objects/articulation.py
@@ -582,10 +582,14 @@ def __init__(
         if self.cfg.init_qpos is None:
             self.cfg.init_qpos = torch.zeros(self.dof, dtype=torch.float32)
 
-        if not cfg.use_usd_properties:
-            # Set articulation configuration in DexSim
-            set_dexsim_articulation_cfg(entities, self.cfg)
-
+        # Determine if we should use USD properties or cfg properties.
+        is_usd_file = cfg.fpath.endswith((".usd", ".usda", ".usdc"))
+        use_cfg_properties = not (cfg.use_usd_properties and is_usd_file)
+
+        # Set articulation configuration in DexSim
+        set_dexsim_articulation_cfg(entities, self.cfg)
+        
+        if use_cfg_properties:
             # Init joint drive parameters.
             num_entities = len(entities)
             dof = self._data.dof
diff --git a/embodichain/lab/sim/objects/rigid_object.py b/embodichain/lab/sim/objects/rigid_object.py
index 46a91b42..230e9063 100644
--- a/embodichain/lab/sim/objects/rigid_object.py
+++ b/embodichain/lab/sim/objects/rigid_object.py
@@ -211,7 +211,15 @@ def __init__(
         self._visual_material: List[VisualMaterialInst] = [None] * len(entities)
         self.is_shared_visual_material = False
 
-        if not cfg.use_usd_properties:
+        # Determine if we should use USD properties or cfg properties.
+        from embodichain.lab.sim.shapes import MeshCfg
+        is_usd_file = (
+            isinstance(cfg.shape, MeshCfg)
+            and cfg.shape.fpath.endswith((".usd", ".usda", ".usdc"))
+        )
+        use_cfg_properties = not (cfg.use_usd_properties and is_usd_file)
+
+        if use_cfg_properties:
             for entity in entities:
                 entity.set_body_scale(*cfg.body_scale)
                 entity.set_physical_attr(cfg.attrs.attr())
diff --git a/embodichain/lab/sim/sim_manager.py b/embodichain/lab/sim/sim_manager.py
index 6f7c89fd..83202b43 100644
--- a/embodichain/lab/sim/sim_manager.py
+++ b/embodichain/lab/sim/sim_manager.py
@@ -1044,6 +1044,8 @@ def add_articulation(
         is_usd = cfg.fpath.endswith((".usd", ".usda", ".usdc"))
         if is_usd:
             # TODO: currently not supporting multiple arenas for USD
+            if len(env_list) > 1:
+                logger.log_error(f"Currently not supporting multiple arenas for USD.")
             env = self._env
             results = env.import_from_usd_file(cfg.fpath, return_object=True)
             print("USD import results:", results)
diff --git a/embodichain/lab/sim/utility/sim_utils.py b/embodichain/lab/sim/utility/sim_utils.py
index 0f63b482..fdec76a7 100644
--- a/embodichain/lab/sim/utility/sim_utils.py
+++ b/embodichain/lab/sim/utility/sim_utils.py
@@ -222,6 +222,8 @@ def load_mesh_objects_from_cfg(
         is_usd = fpath.endswith((".usd", ".usda", ".usdc"))
         if is_usd:
             # TODO: currently not supporting multiple arenas for USD
+            if len(env_list) > 1:
+                logger.log_error(f"Currently not supporting multiple arenas for USD.")
             _env: dexsim.environment.Env = dexsim.default_world().get_env()
             results = _env.import_from_usd_file(fpath, return_object=True)
             print(f"import usd result: {results}")

From 6ab46764842dec0a4dd90a6abba0bf1a0451208e Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Mon, 2 Mar 2026 18:49:38 +0800
Subject: [PATCH 05/14] style

---
 embodichain/data/assets/obj_assets.py       | 1 +
 embodichain/data/assets/robot_assets.py     | 2 ++
 embodichain/lab/sim/objects/articulation.py | 2 +-
 embodichain/lab/sim/objects/rigid_object.py | 6 +++---
 embodichain/lab/sim/utility/sim_utils.py    | 4 ++--
 scripts/tutorials/sim/import_usd.py         | 3 ++-
 6 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/embodichain/data/assets/obj_assets.py b/embodichain/data/assets/obj_assets.py
index 442cbd46..4790a26b 100644
--- a/embodichain/data/assets/obj_assets.py
+++ b/embodichain/data/assets/obj_assets.py
@@ -216,6 +216,7 @@ def __init__(self, data_root: str = None):
 
         super().__init__(prefix, data_descriptor, path)
 
+
 class SugarBox(EmbodiChainDataset):
     def __init__(self, data_root: str = None):
         data_descriptor = o3d.data.DataDescriptor(
diff --git a/embodichain/data/assets/robot_assets.py b/embodichain/data/assets/robot_assets.py
index 0fc9cb58..a817ffa5 100644
--- a/embodichain/data/assets/robot_assets.py
+++ b/embodichain/data/assets/robot_assets.py
@@ -122,6 +122,8 @@ def __init__(self, data_root: str = None):
         path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
 
         super().__init__(prefix, data_descriptor, path)
+
+
 class UnitreeH1Usd(EmbodiChainDataset):
     """Dataset class for the Unitree H1 robot USD version.
 
diff --git a/embodichain/lab/sim/objects/articulation.py b/embodichain/lab/sim/objects/articulation.py
index 30c334c2..e6ded056 100644
--- a/embodichain/lab/sim/objects/articulation.py
+++ b/embodichain/lab/sim/objects/articulation.py
@@ -588,7 +588,7 @@ def __init__(
 
         # Set articulation configuration in DexSim
         set_dexsim_articulation_cfg(entities, self.cfg)
-        
+
         if use_cfg_properties:
             # Init joint drive parameters.
             num_entities = len(entities)
diff --git a/embodichain/lab/sim/objects/rigid_object.py b/embodichain/lab/sim/objects/rigid_object.py
index 230e9063..08eb2712 100644
--- a/embodichain/lab/sim/objects/rigid_object.py
+++ b/embodichain/lab/sim/objects/rigid_object.py
@@ -213,9 +213,9 @@ def __init__(
 
         # Determine if we should use USD properties or cfg properties.
         from embodichain.lab.sim.shapes import MeshCfg
-        is_usd_file = (
-            isinstance(cfg.shape, MeshCfg)
-            and cfg.shape.fpath.endswith((".usd", ".usda", ".usdc"))
+
+        is_usd_file = isinstance(cfg.shape, MeshCfg) and cfg.shape.fpath.endswith(
+            (".usd", ".usda", ".usdc")
         )
         use_cfg_properties = not (cfg.use_usd_properties and is_usd_file)
 
diff --git a/embodichain/lab/sim/utility/sim_utils.py b/embodichain/lab/sim/utility/sim_utils.py
index fdec76a7..193ba607 100644
--- a/embodichain/lab/sim/utility/sim_utils.py
+++ b/embodichain/lab/sim/utility/sim_utils.py
@@ -226,11 +226,11 @@ def load_mesh_objects_from_cfg(
                 logger.log_error(f"Currently not supporting multiple arenas for USD.")
             _env: dexsim.environment.Env = dexsim.default_world().get_env()
             results = _env.import_from_usd_file(fpath, return_object=True)
-            print(f"import usd result: {results}")
+            # print(f"import usd result: {results}")
 
             rigidbodys_found = []
             for key, value in results.items():
-                if isinstance(value, dexsim.cuda.pybind.models.MeshObject):
+                if isinstance(value, MeshObject):
                     rigidbodys_found.append(value)
             if len(rigidbodys_found) == 0:
                 logger.log_error(f"No rigid body found in USD file: {fpath}")
diff --git a/scripts/tutorials/sim/import_usd.py b/scripts/tutorials/sim/import_usd.py
index 3e1d5a3b..970313ea 100644
--- a/scripts/tutorials/sim/import_usd.py
+++ b/scripts/tutorials/sim/import_usd.py
@@ -34,6 +34,7 @@
 )
 from embodichain.data import get_data_path
 
+
 def main():
     """Main function to create and run the simulation scene."""
 
@@ -104,7 +105,7 @@ def main():
     )
 
     # Add objects to the scene
-    h1_path= get_data_path("UnitreeH1Usd/H1_usd/h1.usd")
+    h1_path = get_data_path("UnitreeH1Usd/H1_usd/h1.usd")
     print(f"Loading USD file from: {h1_path}")
     h1: Articulation = sim.add_articulation(
         cfg=ArticulationCfg(

From feba885938d612a0b24bf651d90bc6e9b1ed5167 Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Mon, 2 Mar 2026 18:49:38 +0800
Subject: [PATCH 06/14] update

---
 embodichain/lab/sim/sim_manager.py       | 12 ++++++------
 embodichain/lab/sim/utility/sim_utils.py |  2 +-
 scripts/tutorials/sim/import_usd.py      |  8 +-------
 3 files changed, 8 insertions(+), 14 deletions(-)

diff --git a/embodichain/lab/sim/sim_manager.py b/embodichain/lab/sim/sim_manager.py
index 83202b43..6ccd13cf 100644
--- a/embodichain/lab/sim/sim_manager.py
+++ b/embodichain/lab/sim/sim_manager.py
@@ -1043,12 +1043,12 @@ def add_articulation(
 
         is_usd = cfg.fpath.endswith((".usd", ".usda", ".usdc"))
         if is_usd:
-            # TODO: currently not supporting multiple arenas for USD
+            # TODO: Currently add checking for num_envs when file is USD. After we support spawn via cloning, we can remove this.
             if len(env_list) > 1:
                 logger.log_error(f"Currently not supporting multiple arenas for USD.")
             env = self._env
             results = env.import_from_usd_file(cfg.fpath, return_object=True)
-            print("USD import results:", results)
+            # print("USD import results:", results)
 
             articulations_found = []
             for key, value in results.items():
@@ -1057,7 +1057,6 @@ def add_articulation(
 
             if len(articulations_found) == 0:
                 logger.log_error(f"No articulation found in USD file {cfg.fpath}.")
-                return None
             elif len(articulations_found) > 1:
                 logger.log_error(
                     f"Multiple articulations found in USD file {cfg.fpath}. "
@@ -1135,10 +1134,12 @@ def add_robot(self, cfg: RobotCfg) -> Robot | None:
 
         is_usd = cfg.fpath.endswith((".usd", ".usda", ".usdc"))
         if is_usd:
-            # TODO: currently not supporting multiple arenas for USD
+            # TODO: Currently add checking for num_envs when file is USD. After we support spawn via cloning, we can remove this.
+            if len(env_list) > 1:
+                logger.log_error(f"Currently not supporting multiple arenas for USD.")
             env = self._env
             results = env.import_from_usd_file(cfg.fpath, return_object=True)
-            print("USD import results:", results)
+            # print("USD import results:", results)
 
             articulations_found = []
             for key, value in results.items():
@@ -1147,7 +1148,6 @@ def add_robot(self, cfg: RobotCfg) -> Robot | None:
 
             if len(articulations_found) == 0:
                 logger.log_error(f"No articulation found in USD file {cfg.fpath}.")
-                return None
             elif len(articulations_found) > 1:
                 logger.log_error(
                     f"Multiple articulations found in USD file {cfg.fpath}. "
diff --git a/embodichain/lab/sim/utility/sim_utils.py b/embodichain/lab/sim/utility/sim_utils.py
index 193ba607..15e16edf 100644
--- a/embodichain/lab/sim/utility/sim_utils.py
+++ b/embodichain/lab/sim/utility/sim_utils.py
@@ -221,7 +221,7 @@ def load_mesh_objects_from_cfg(
 
         is_usd = fpath.endswith((".usd", ".usda", ".usdc"))
         if is_usd:
-            # TODO: currently not supporting multiple arenas for USD
+            # TODO: Currently add checking for num_envs when file is USD. After we support spawn via cloning, we can remove this.
             if len(env_list) > 1:
                 logger.log_error(f"Currently not supporting multiple arenas for USD.")
             _env: dexsim.environment.Env = dexsim.default_world().get_env()
diff --git a/scripts/tutorials/sim/import_usd.py b/scripts/tutorials/sim/import_usd.py
index 970313ea..6793c83b 100644
--- a/scripts/tutorials/sim/import_usd.py
+++ b/scripts/tutorials/sim/import_usd.py
@@ -51,12 +51,6 @@ def main():
     parser.add_argument(
         "--device", type=str, default="cpu", help="Simulation device (cuda or cpu)"
     )
-    parser.add_argument(
-        "--enable_rt",
-        action="store_true",
-        default=True,
-        help="Enable ray tracing for better visuals",
-    )
     args = parser.parse_args()
 
     # Configure the simulation
@@ -66,7 +60,7 @@ def main():
         headless=True,
         physics_dt=1.0 / 100.0,  # Physics timestep (100 Hz)
         sim_device=args.device,
-        enable_rt=args.enable_rt,  # Enable ray tracing for better visuals
+        enable_rt=True,  # Enable ray tracing for better visuals
         num_envs=1,
         arena_space=3.0,
     )

From fac439bc6697c9a9fa22aaeda61ad9f4cdc941b0 Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Mon, 2 Mar 2026 18:49:38 +0800
Subject: [PATCH 07/14] update

---
 embodichain/lab/sim/objects/articulation.py | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/embodichain/lab/sim/objects/articulation.py b/embodichain/lab/sim/objects/articulation.py
index e6ded056..ac75d34e 100644
--- a/embodichain/lab/sim/objects/articulation.py
+++ b/embodichain/lab/sim/objects/articulation.py
@@ -586,11 +586,10 @@ def __init__(
         is_usd_file = cfg.fpath.endswith((".usd", ".usda", ".usdc"))
         use_cfg_properties = not (cfg.use_usd_properties and is_usd_file)
 
-        # Set articulation configuration in DexSim
-        set_dexsim_articulation_cfg(entities, self.cfg)
-
         if use_cfg_properties:
-            # Init joint drive parameters.
+            # Set articulation configuration in DexSim
+            set_dexsim_articulation_cfg(entities, self.cfg)
+
             num_entities = len(entities)
             dof = self._data.dof
             default_cfg = JointDrivePropertiesCfg()
@@ -625,6 +624,13 @@ def __init__(
                 device=device,
             )
             self._set_default_joint_drive()
+        else:
+            # Read current properties from USD-loaded entities
+            self.default_joint_stiffness = self._data.joint_stiffness.clone()
+            self.default_joint_damping = self._data.joint_damping.clone()
+            self.default_joint_friction = self._data.joint_friction.clone()
+            self.default_joint_max_effort = self._data.qf_limits.clone()
+            self.default_joint_max_velocity = self._data.qvel_limits.clone()
 
         self.pk_chain = None
         if self.cfg.build_pk_chain:

From b172eb93ed1f534ea8c472044f1646d5f18089cd Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Mon, 2 Mar 2026 18:49:38 +0800
Subject: [PATCH 08/14] add usd test

---
 tests/sim/objects/test_usd.py | 91 +++++++++++++++++++++++++++++++++++
 1 file changed, 91 insertions(+)
 create mode 100644 tests/sim/objects/test_usd.py

diff --git a/tests/sim/objects/test_usd.py b/tests/sim/objects/test_usd.py
new file mode 100644
index 00000000..101afeda
--- /dev/null
+++ b/tests/sim/objects/test_usd.py
@@ -0,0 +1,91 @@
+# ----------------------------------------------------------------------------
+# Copyright (c) 2021-2026 DexForce Technology Co., Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ----------------------------------------------------------------------------
+
+import pytest
+
+from embodichain.lab.sim import (
+    SimulationManager,
+    SimulationManagerCfg,
+)
+from embodichain.lab.sim.objects import Articulation, RigidObject
+from embodichain.lab.sim.cfg import ArticulationCfg, RigidObjectCfg
+from embodichain.lab.sim.shapes import MeshCfg
+from embodichain.data import get_data_path
+
+NUM_ARENAS = 1
+
+
+class BaseUsdTest:
+    """Shared test logic for CPU and CUDA."""
+
+    def setup_simulation(self, sim_device):
+        config = SimulationManagerCfg(
+            headless=False, sim_device=sim_device, num_envs=NUM_ARENAS, enable_rt=True
+        )
+        self.sim = SimulationManager(config)
+
+        if sim_device == "cuda" and getattr(self.sim, "is_use_gpu_physics", False):
+            self.sim.init_gpu_physics()
+
+    def test_import_rigid(self):
+        sugar_box_path = get_data_path("SugarBox/sugar_box_usd/sugar_box.usda")
+        sugar_box: RigidObject = self.sim.add_rigid_object(
+            cfg=RigidObjectCfg(
+                uid="sugar_box",
+                shape=MeshCfg(fpath=sugar_box_path),
+                body_type="dynamic",
+                use_usd_properties=True,
+                init_pos=[0.0, 0.0, 0.1],
+            )
+        )
+
+    def test_import_articulation(self):
+        h1_path = get_data_path("UnitreeH1Usd/H1_usd/h1.usd")
+        h1: Articulation = self.sim.add_articulation(
+            cfg=ArticulationCfg(
+                uid="h1",
+                fpath=h1_path,
+                build_pk_chain=False,
+                use_usd_properties=False,
+                init_pos=[0.0, 0.0, 1.2],
+            )
+        )
+
+    def teardown_method(self):
+        """Clean up resources after each test method."""
+        self.sim.destroy()
+
+
+class TestUsdCPU(BaseUsdTest):
+    def setup_method(self):
+        self.setup_simulation("cpu")
+
+
+@pytest.mark.skip(reason="Skipping CUDA tests temporarily")
+class TestUsdCUDA(BaseUsdTest):
+    def setup_method(self):
+        self.setup_simulation("cuda")
+
+
+if __name__ == "__main__":
+    test = TestUsdCPU()
+    test.setup_method()
+    test.test_import_rigid()
+    test.test_import_articulation()
+
+    from IPython import embed
+
+    embed()

From 6aca2a47215dbe25bd787762f2d5c66dba81c60d Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Mon, 2 Mar 2026 18:49:38 +0800
Subject: [PATCH 09/14] update

---
 embodichain/lab/sim/cfg.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/embodichain/lab/sim/cfg.py b/embodichain/lab/sim/cfg.py
index 16bc4445..4ed0e4f9 100644
--- a/embodichain/lab/sim/cfg.py
+++ b/embodichain/lab/sim/cfg.py
@@ -550,8 +550,8 @@ class RigidObjectCfg(ObjectBaseCfg):
     """Whether to use physical properties from USD file instead of config.
     
     When True: Keep all physical properties (drive, physics attrs, etc.) from USD file.
-    When False (default): Override USD properties with config values (URDF behavior).
-    Only effective for USD files, ignored for URDF files.
+    When False (default): Override USD properties with config values.
+    Only effective for USD files.
     """
 
     def to_dexsim_body_type(self) -> ActorType:

From b755cdae7f1b323f2b309506b04f1393db3b4ed1 Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Mon, 2 Mar 2026 18:49:38 +0800
Subject: [PATCH 10/14] update

---
 scripts/tutorials/sim/import_usd.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/scripts/tutorials/sim/import_usd.py b/scripts/tutorials/sim/import_usd.py
index 6793c83b..59dfac62 100644
--- a/scripts/tutorials/sim/import_usd.py
+++ b/scripts/tutorials/sim/import_usd.py
@@ -67,9 +67,6 @@ def main():
 
     # Create the simulation instance
     sim = SimulationManager(sim_cfg)
-    # Open window when the scene has been set up
-    if not args.headless:
-        sim.open_window()
 
     cube: RigidObject = sim.add_rigid_object(
         cfg=RigidObjectCfg(
@@ -111,6 +108,10 @@ def main():
         )
     )
 
+    # Open window when the scene has been set up
+    if not args.headless:
+        sim.open_window()
+
     print("[INFO]: Scene setup complete!")
     print("[INFO]: Press Ctrl+C to stop the simulation")
 

From 74cb0b4a4ce8915e11a09d31f65bf71a6f2f847e Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Mon, 2 Mar 2026 18:49:38 +0800
Subject: [PATCH 11/14] add docs for usd

---
 docs/source/overview/sim/sim_articulation.md | 29 +++++++++++++++++++-
 docs/source/overview/sim/sim_rigid_object.md | 26 ++++++++++++++++++
 2 files changed, 54 insertions(+), 1 deletion(-)

diff --git a/docs/source/overview/sim/sim_articulation.md b/docs/source/overview/sim/sim_articulation.md
index 5e4c0669..f687d754 100644
--- a/docs/source/overview/sim/sim_articulation.md
+++ b/docs/source/overview/sim/sim_articulation.md
@@ -10,10 +10,11 @@ The {class}`~objects.Articulation` class represents the fundamental physics enti
 Articulations are configured using the {class}`~cfg.ArticulationCfg` dataclass.
 | Parameter | Type | Default | Description |
 | :--- | :--- | :--- | :--- |
-| `fpath` | `str` | `None` | Path to the asset file (URDF/MJCF). |
+| `fpath` | `str` | `None` | Path to the asset file (URDF/MJCF/USD). |
 | `init_pos` | `tuple` | `(0,0,0)` | Initial root position `(x, y, z)`. |
 | `init_rot` | `tuple` | `(0,0,0)` | Initial root rotation `(r, p, y)` in degrees. |
 | `fix_base` | `bool` | `True` | Whether to fix the base of the articulation. |
+| `use_usd_properties` | `bool` | `False` | If True, use physical properties from USD file; if False, override with config values. Only effective for usd files. |
 | `init_qpos` | `List[float]` | `None` | Initial joint positions. |
 | `body_scale` | `List[float]` | `[1.0, 1.0, 1.0]` | Scaling factors for the articulation links. |
 | `disable_self_collisions` | `bool` | `True` | Whether to disable self-collisions. |
@@ -61,6 +62,32 @@ articulation: Articulation = sim.add_articulation(cfg=art_cfg)
 # This performs a global reset of the simulation state
 sim.reset_objects_state()
 ```
+
+### USD Import
+
+You can import USD files (`.usd`, `.usda`, `.usdc`) as articulations:
+
+```python
+from embodichain.data import get_data_path
+
+# Import USD with properties from file
+usd_art_cfg = ArticulationCfg(
+    fpath=get_data_path("path/to/robot.usd"),
+    init_pos=(0, 0, 0.5),
+    use_usd_properties=True  # Keep USD drive/physics properties
+)
+usd_robot = sim.add_articulation(cfg=usd_art_cfg)
+
+# Or override USD properties with config (URDF behavior)
+usd_art_cfg_override = ArticulationCfg(
+    fpath=get_data_path("path/to/robot.usd"),
+    init_pos=(0, 0, 0.5),
+    use_usd_properties=False,  # Use config instead
+    drive_props=JointDrivePropertiesCfg(stiffness=5000, damping=500)
+)
+robot = sim.add_articulation(cfg=usd_art_cfg_override)
+```
+
 ## Articulation Class
 
 State data is accessed via getter methods that return batched tensors.
diff --git a/docs/source/overview/sim/sim_rigid_object.md b/docs/source/overview/sim/sim_rigid_object.md
index 6d71465d..5bd4b417 100644
--- a/docs/source/overview/sim/sim_rigid_object.md
+++ b/docs/source/overview/sim/sim_rigid_object.md
@@ -16,6 +16,7 @@ Configured via the {class}`~cfg.RigidObjectCfg` class.
 | `attrs` | {class}`~cfg.RigidBodyAttributesCfg` | defaults in code | Physical attributes (mass, damping, friction, restitution, collision offsets, CCD, etc.). |
 | `init_pos` | `Sequence[float]` | `(0,0,0)` | Initial root position (x, y, z). |
 | `init_rot` | `Sequence[float]` | `(0,0,0)` (Euler degrees) | Initial root orientation (Euler angles in degrees) or provide `init_local_pose`. |
+| `use_usd_properties` | `bool` | `False` | If True, use physical properties from USD file; if False, override with config values. Only effective for usd files. |
 | `uid` | `str` | `None` | Optional unique identifier for the object; manager will assign one if omitted. |
 
 ### Rigid Body Attributes ({class}`~cfg.RigidBodyAttributesCfg`)
@@ -73,6 +74,31 @@ sim.update()
 
 > Note: `scripts/tutorials/sim/create_scene.py` provides a minimal working example of adding a rigid cube and running the simulation loop.
 
+### USD Import
+
+You can import USD files (`.usd`, `.usda`, `.usdc`) as rigid objects:
+
+```python
+from embodichain.data import get_data_path
+
+# Import USD with properties from file
+usd_cfg = RigidObjectCfg(
+    shape=MeshCfg(fpath=get_data_path("path/to/object.usd")),
+    body_type="dynamic",
+    use_usd_properties=True  # Keep USD properties
+)
+obj = sim.add_rigid_object(cfg=usd_cfg)
+
+# Or override USD properties with config
+usd_cfg_override = RigidObjectCfg(
+    shape=MeshCfg(fpath=get_data_path("path/to/object.usd")),
+    body_type="dynamic",
+    use_usd_properties=False,  # Use config instead
+    attrs=RigidBodyAttributesCfg(mass=2.0)
+)
+obj2 = sim.add_rigid_object(cfg=usd_cfg_override)
+```
+
 ## Rigid Object Class — Common Methods & Attributes
 
 Rigid objects are observed and controlled via single poses and linear/angular velocities. Key APIs include:

From 387aacfb4bd730a175e56dd240f899628c978e03 Mon Sep 17 00:00:00 2001
From: MahooX <72488485+MahooX@users.noreply.github.com>
Date: Mon, 2 Mar 2026 18:49:38 +0800
Subject: [PATCH 12/14] Apply suggestion from @Copilot

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
---
 tests/sim/objects/test_usd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/sim/objects/test_usd.py b/tests/sim/objects/test_usd.py
index 101afeda..b050bc71 100644
--- a/tests/sim/objects/test_usd.py
+++ b/tests/sim/objects/test_usd.py
@@ -33,7 +33,7 @@ class BaseUsdTest:
 
     def setup_simulation(self, sim_device):
         config = SimulationManagerCfg(
-            headless=False, sim_device=sim_device, num_envs=NUM_ARENAS, enable_rt=True
+            headless=True, sim_device=sim_device, num_envs=NUM_ARENAS, enable_rt=False
         )
         self.sim = SimulationManager(config)
 

From 69e44e468643c972ff20de786a1781d9c4311608 Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Tue, 3 Mar 2026 15:14:26 +0800
Subject: [PATCH 13/14] update

---
 docs/source/overview/sim/sim_articulation.md |   2 +-
 tests/sim/objects/test_usd.py                | 107 ++++++++++++++++++-
 2 files changed, 103 insertions(+), 6 deletions(-)

diff --git a/docs/source/overview/sim/sim_articulation.md b/docs/source/overview/sim/sim_articulation.md
index f687d754..f35bb64b 100644
--- a/docs/source/overview/sim/sim_articulation.md
+++ b/docs/source/overview/sim/sim_articulation.md
@@ -10,7 +10,7 @@ The {class}`~objects.Articulation` class represents the fundamental physics enti
 Articulations are configured using the {class}`~cfg.ArticulationCfg` dataclass.
 | Parameter | Type | Default | Description |
 | :--- | :--- | :--- | :--- |
-| `fpath` | `str` | `None` | Path to the asset file (URDF/MJCF/USD). |
+| `fpath` | `str` | `None` | Path to the asset file (URDF/USD). |
 | `init_pos` | `tuple` | `(0,0,0)` | Initial root position `(x, y, z)`. |
 | `init_rot` | `tuple` | `(0,0,0)` | Initial root rotation `(r, p, y)` in degrees. |
 | `fix_base` | `bool` | `True` | Whether to fix the base of the articulation. |
diff --git a/tests/sim/objects/test_usd.py b/tests/sim/objects/test_usd.py
index b050bc71..e36be7c7 100644
--- a/tests/sim/objects/test_usd.py
+++ b/tests/sim/objects/test_usd.py
@@ -15,13 +15,19 @@
 # ----------------------------------------------------------------------------
 
 import pytest
+import torch
 
 from embodichain.lab.sim import (
     SimulationManager,
     SimulationManagerCfg,
 )
 from embodichain.lab.sim.objects import Articulation, RigidObject
-from embodichain.lab.sim.cfg import ArticulationCfg, RigidObjectCfg
+from embodichain.lab.sim.cfg import (
+    ArticulationCfg,
+    RigidObjectCfg,
+    JointDrivePropertiesCfg,
+    RigidBodyAttributesCfg,
+)
 from embodichain.lab.sim.shapes import MeshCfg
 from embodichain.data import get_data_path
 
@@ -41,18 +47,32 @@ def setup_simulation(self, sim_device):
             self.sim.init_gpu_physics()
 
     def test_import_rigid(self):
+        default_attr = RigidBodyAttributesCfg()
         sugar_box_path = get_data_path("SugarBox/sugar_box_usd/sugar_box.usda")
         sugar_box: RigidObject = self.sim.add_rigid_object(
             cfg=RigidObjectCfg(
                 uid="sugar_box",
                 shape=MeshCfg(fpath=sugar_box_path),
                 body_type="dynamic",
-                use_usd_properties=True,
+                use_usd_properties=False,
                 init_pos=[0.0, 0.0, 0.1],
+                attrs=default_attr,
             )
         )
+        body0 = sugar_box._entities[0].get_physical_body()
+        print(sugar_box._entities[0].get_physical_attr())
+        assert pytest.approx(body0.get_mass()) == default_attr.mass
+        assert pytest.approx(body0.get_linear_damping()) == default_attr.linear_damping
+        assert (
+            pytest.approx(body0.get_angular_damping()) == default_attr.angular_damping
+        )
+        assert body0.get_solver_iteration_counts() == (
+            default_attr.min_position_iters,
+            default_attr.min_velocity_iters,
+        )
 
     def test_import_articulation(self):
+        default_drive = JointDrivePropertiesCfg()
         h1_path = get_data_path("UnitreeH1Usd/H1_usd/h1.usd")
         h1: Articulation = self.sim.add_articulation(
             cfg=ArticulationCfg(
@@ -61,9 +81,86 @@ def test_import_articulation(self):
                 build_pk_chain=False,
                 use_usd_properties=False,
                 init_pos=[0.0, 0.0, 1.2],
+                drive_pros=default_drive,
+            )
+        )
+
+        stiffness = h1.body_data.joint_stiffness
+        damping = h1.body_data.joint_damping
+        max_force = h1.body_data.qf_limits
+        print(f"All joint stiffness: {stiffness}")
+        print(f"All joint damping: {damping}")
+        print(f"All joint max force: {max_force}")
+        expected_stiffness = default_drive.stiffness
+        assert torch.allclose(
+            stiffness, torch.tensor(expected_stiffness, dtype=torch.float32)
+        )
+        expectied_damping = default_drive.damping
+        assert torch.allclose(
+            damping, torch.tensor(expectied_damping, dtype=torch.float32)
+        )
+
+    def test_usd_properties(self):
+        """In this test, we set use_usd_properties=True to verify that the USD properties are correctly applied."""
+        h1_path = get_data_path("UnitreeH1Usd/H1_usd/h1.usd")
+        h1: Articulation = self.sim.add_articulation(
+            cfg=ArticulationCfg(
+                uid="h1_beta",
+                fpath=h1_path,
+                build_pk_chain=False,
+                use_usd_properties=True,
+                init_pos=[0.0, 0.0, 1.2],
             )
         )
 
+        stiffness = h1.body_data.joint_stiffness
+        damping = h1.body_data.joint_damping
+        max_force = h1.body_data.qf_limits
+        print(f"All joint stiffness: {stiffness}")
+        print(f"All joint damping: {damping}")
+        print(f"All joint max force: {max_force}")
+        expected_stiffness = 10000000.0
+        assert torch.allclose(
+            stiffness, torch.tensor(expected_stiffness, dtype=torch.float32)
+        )
+
+        joint_names = h1.joint_names
+        print(f"Joint names: {joint_names}")
+
+        target_joint_name = "left_hip_yaw_joint"
+        if target_joint_name in joint_names:
+            joint_idx = joint_names.index(target_joint_name)
+            # check for the first instance
+            assert torch.isclose(
+                stiffness[0, joint_idx], torch.tensor(10000000.0, dtype=torch.float32)
+            )
+            assert torch.isclose(
+                damping[0, joint_idx], torch.tensor(0.0, dtype=torch.float32)
+            )
+            assert torch.isclose(
+                max_force[0, joint_idx], torch.tensor(200.0, dtype=torch.float32)
+            )
+
+        default_attr = RigidBodyAttributesCfg()
+        sugar_box_path = get_data_path("SugarBox/sugar_box_usd/sugar_box.usda")
+        sugar_box: RigidObject = self.sim.add_rigid_object(
+            cfg=RigidObjectCfg(
+                uid="sugar_box_beta",
+                shape=MeshCfg(fpath=sugar_box_path),
+                body_type="dynamic",
+                use_usd_properties=True,
+                init_pos=[0.0, 0.0, 0.1],
+                attrs=default_attr,
+            )
+        )
+        # body0=sugar_box._entities[0].get_physical_body()
+        # print(sugar_box._entities[0].get_physical_attr())
+        # assert(body0.get_mass()==0.514)
+        # assert(body0.get_linear_damping()==0)
+        # assert(body0.get_angular_damping()==0.05)
+        # assert(body0.get_solver_iteration_counts()==(4, 1))
+        # assert(body0.get_max_angular_velocity()==100)
+
     def teardown_method(self):
         """Clean up resources after each test method."""
         self.sim.destroy()
@@ -85,7 +182,7 @@ def setup_method(self):
     test.setup_method()
     test.test_import_rigid()
     test.test_import_articulation()
+    test.test_usd_properties()
 
-    from IPython import embed
-
-    embed()
+    # from IPython import embed
+    # embed()

From b65eb0ebd789d2a0213600323da4c4182383cc8e Mon Sep 17 00:00:00 2001
From: xiemenghong <xiemenghong@dexforce.top>
Date: Tue, 3 Mar 2026 16:04:47 +0800
Subject: [PATCH 14/14] update test. fix rigidbody.reset()

---
 embodichain/lab/sim/objects/rigid_object.py | 2 +-
 tests/sim/objects/test_usd.py               | 9 ++++-----
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/embodichain/lab/sim/objects/rigid_object.py b/embodichain/lab/sim/objects/rigid_object.py
index 08eb2712..4fec12b7 100644
--- a/embodichain/lab/sim/objects/rigid_object.py
+++ b/embodichain/lab/sim/objects/rigid_object.py
@@ -878,7 +878,7 @@ def set_visible(self, visible: bool = True) -> None:
     def reset(self, env_ids: Sequence[int] | None = None) -> None:
         local_env_ids = self._all_indices if env_ids is None else env_ids
         num_instances = len(local_env_ids)
-        self.set_attrs(self.cfg.attrs, env_ids=local_env_ids)
+        # self.set_attrs(self.cfg.attrs, env_ids=local_env_ids)
 
         pos = torch.as_tensor(
             self.cfg.init_pos, dtype=torch.float32, device=self.device
diff --git a/tests/sim/objects/test_usd.py b/tests/sim/objects/test_usd.py
index e36be7c7..06258c20 100644
--- a/tests/sim/objects/test_usd.py
+++ b/tests/sim/objects/test_usd.py
@@ -141,7 +141,6 @@ def test_usd_properties(self):
                 max_force[0, joint_idx], torch.tensor(200.0, dtype=torch.float32)
             )
 
-        default_attr = RigidBodyAttributesCfg()
         sugar_box_path = get_data_path("SugarBox/sugar_box_usd/sugar_box.usda")
         sugar_box: RigidObject = self.sim.add_rigid_object(
             cfg=RigidObjectCfg(
@@ -150,12 +149,12 @@ def test_usd_properties(self):
                 body_type="dynamic",
                 use_usd_properties=True,
                 init_pos=[0.0, 0.0, 0.1],
-                attrs=default_attr,
             )
         )
-        # body0=sugar_box._entities[0].get_physical_body()
-        # print(sugar_box._entities[0].get_physical_attr())
-        # assert(body0.get_mass()==0.514)
+        body0 = sugar_box._entities[0].get_physical_body()
+        print(sugar_box._entities[0].get_physical_attr())
+        assert pytest.approx(body0.get_mass(), 0.001) == 0.514
+        # TODO: nvidia physx attrs in usd currently are not fully suported
         # assert(body0.get_linear_damping()==0)
         # assert(body0.get_angular_damping()==0.05)
         # assert(body0.get_solver_iteration_counts()==(4, 1))