diff --git a/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/.collect.mapping.json b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/.collect.mapping.json
new file mode 100755
index 0000000000000000000000000000000000000000..aea549ab5ae4b4cd88999977ac34aae9bd819c5b
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/.collect.mapping.json
@@ -0,0 +1,23 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "C:/NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl",
+            "source_hash": "4f0a8491bb73517be6b84a9bb9abd025e2b1d06c",
+            "target_url": "./NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl",
+            "target_hash": "6363c1272285f40752354ef24371dfeb9a3e3dfb"
+        },
+        {
+            "source_url": "C:/xufang/USD Room/IKEA/Three/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/img/4b66ce5d83cebdb048a63fc95b5a7ff2.png",
+            "source_hash": "95c296af5fc7c9424556697f88454bba327898ca",
+            "target_url": "./resource/img/4b66ce5d83cebdb048a63fc95b5a7ff2.png",
+            "target_hash": "95c296af5fc7c9424556697f88454bba327898ca"
+        },
+        {
+            "source_url": "C:/xufang/USD Room/IKEA/Three/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/img/6a84af47e7df213abe4969d3e4b6778d.png",
+            "source_hash": "968d862e6c2479af2a346e9d09e8be8445f6d963",
+            "target_url": "./resource/img/6a84af47e7df213abe4969d3e4b6778d.png",
+            "target_hash": "968d862e6c2479af2a346e9d09e8be8445f6d963"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl
new file mode 100755
index 0000000000000000000000000000000000000000..d6c08a66ec3d6465474bf1e93968a42c369059a1
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl
@@ -0,0 +1,43 @@
+mdl 1.3;
+
+import ::OmniGlass::OmniGlass;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = OmniGlass::OmniGlass(
+    absorption_coeff: color(1.f, 1.f, 1.f),
+    glass_color: color(1.f, 1.f, 1.f),
+    use_glass_color_texture: false,
+    glass_color_texture: texture_2d(),
+    frosting_roughness: 0.f,
+    glass_ior: 1.52f,
+    thin_walled: true,
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f));
+	
+/*	
+mdl 1.5;
+
+import ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume(
+    thin_walled: true,
+    transmission_color: color(1.f, 1.f, 1.f),
+    roughness_texture: texture_2d(),
+    ior: 1.52f,
+    transmission_color_texture: texture_2d(),
+    roughness_texture_influence: 0.f,
+    roughness: 0.f,
+    reflection_color_texture: texture_2d(),
+    reflection_color: color(1.f, 1.f, 1.f),
+    depth: 0.0001f,
+    normal_map_texture: texture_2d());
+*/
diff --git a/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/model_BRIMNES_Cabinet_with_doors_glass_black_78x95cm.usd b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/model_BRIMNES_Cabinet_with_doors_glass_black_78x95cm.usd
new file mode 100755
index 0000000000000000000000000000000000000000..e9b0c527ce61345e0a0051af0e429a596db7a0c2
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/model_BRIMNES_Cabinet_with_doors_glass_black_78x95cm.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10944
diff --git a/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/img/4b66ce5d83cebdb048a63fc95b5a7ff2.png b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/img/4b66ce5d83cebdb048a63fc95b5a7ff2.png
new file mode 100755
index 0000000000000000000000000000000000000000..011e83e84b8b4ce1fba167affb167ed10d61b5c0
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/img/4b66ce5d83cebdb048a63fc95b5a7ff2.png
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+size 98840
diff --git a/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/img/6a84af47e7df213abe4969d3e4b6778d.png b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/img/6a84af47e7df213abe4969d3e4b6778d.png
new file mode 100755
index 0000000000000000000000000000000000000000..6bb53a5b71abd5c34cf7526274a7c86bbc075e72
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/img/6a84af47e7df213abe4969d3e4b6778d.png
@@ -0,0 +1,3 @@
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+size 43308
diff --git a/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/material.usd b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/material.usd
new file mode 100755
index 0000000000000000000000000000000000000000..7236b89570b4ab3c8fa6981051aa74bfaeebb52b
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/material.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2521
diff --git a/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/BRIMNES_Cabinet_with_doors_glass_black_78x95cm/resource/v_69323/link_0.usd
new file mode 100755
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diff --git a/Articulated_objects/Ikea_furniture/BRUKSVARA_wardrobe_with_2_doors_and_2 drawers_brown_79x57x201cm/model_BRUKSVARA_wardrobe_with_2_doors_and_2 drawers_brown_79x57x201cm.usd b/Articulated_objects/Ikea_furniture/BRUKSVARA_wardrobe_with_2_doors_and_2 drawers_brown_79x57x201cm/model_BRUKSVARA_wardrobe_with_2_doors_and_2 drawers_brown_79x57x201cm.usd
new file mode 100755
index 0000000000000000000000000000000000000000..7d102e98f055c82dcc47ae275ce17bb86cbdf2cb
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+size 16443
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new file mode 100755
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diff --git a/Articulated_objects/Ikea_furniture/BRUKSVARA_wardrobe_with_2_doors_and_2 drawers_brown_79x57x201cm/resource/material.usd b/Articulated_objects/Ikea_furniture/BRUKSVARA_wardrobe_with_2_doors_and_2 drawers_brown_79x57x201cm/resource/material.usd
new file mode 100755
index 0000000000000000000000000000000000000000..1442e83ad6c38c71b1221bcbfb62e6869372476e
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/BRUKSVARA_wardrobe_with_2_doors_and_2 drawers_brown_79x57x201cm/resource/material.usd	
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96093afd44d30361a701ef50b5a3842d7269ee4c9ebc8071dbdb4fc8dbbf1c12
+size 2019
diff --git a/Articulated_objects/Ikea_furniture/BRUKSVARA_wardrobe_with_2_doors_and_2 drawers_brown_79x57x201cm/resource/v_69323/element_path.json b/Articulated_objects/Ikea_furniture/BRUKSVARA_wardrobe_with_2_doors_and_2 drawers_brown_79x57x201cm/resource/v_69323/element_path.json
new file mode 100755
index 0000000000000000000000000000000000000000..8f6656ae059fcd1620d8a43d3ffbc26f5812087f
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/BRUKSVARA_wardrobe_with_2_doors_and_2 drawers_brown_79x57x201cm/resource/v_69323/element_path.json	
@@ -0,0 +1,13 @@
+{
+    "23": "/root/E_BRUKSVARA_wardrobe_with_2_doors_and_2drawers_brown_79x57x201cm_23",
+    "24": "/root/E_door2_24",
+    "25": "/root/E_door1_25",
+    "30": "/root/E_door2_24/E_handle_30",
+    "31": "/root/E_drawer1_31",
+    "48": "/root/E_door1_25/E_handle_48",
+    "49": "/root/E_drawer1_31/E_handle_49",
+    "54": "/root/E_drawer2_54",
+    "53": "/root/E_drawer2_54/E_handle_53",
+    "55": "/root/E_BRUKSVARA_wardrobe_with_2_doors_and_2drawers_brown_79x57x201cm_23/E_part1_55",
+    "57": "/root/E_BRUKSVARA_wardrobe_with_2_doors_and_2drawers_brown_79x57x201cm_23/E_shelf_57"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/BRUKSVARA_wardrobe_with_2_doors_and_2 drawers_brown_79x57x201cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/BRUKSVARA_wardrobe_with_2_doors_and_2 drawers_brown_79x57x201cm/resource/v_69323/link_0.usd
new file mode 100755
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+version https://git-lfs.github.com/spec/v1
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+size 239571
diff --git a/Articulated_objects/Ikea_furniture/EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm/model_EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm.usd b/Articulated_objects/Ikea_furniture/EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm/model_EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm.usd
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diff --git a/Articulated_objects/Ikea_furniture/EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm/resource/img/b81f125db45d284d9d32e2ec7d459198.png b/Articulated_objects/Ikea_furniture/EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm/resource/img/b81f125db45d284d9d32e2ec7d459198.png
new file mode 100755
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diff --git a/Articulated_objects/Ikea_furniture/EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm/resource/v_69323/element_path.json b/Articulated_objects/Ikea_furniture/EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm/resource/v_69323/element_path.json
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--- /dev/null
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@@ -0,0 +1,10 @@
+{
+    "9": "/root/E_EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm_9",
+    "10": "/root/E_EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm_9/E_part1_10",
+    "12": "/root/E_button_12",
+    "13": "/root/E_EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm_9/E_tabletop_13",
+    "14": "/root/E_EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm_9/E_shelf_14",
+    "2": "/root/E_door_2",
+    "4": "/root/E_EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm_9/E_part2_4",
+    "9Geo": "/root/E_EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm_9/E_EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm_9Geo"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/EKET_Cabinet_w_door_and_1_shelf_brown_walnut_effect_35x35x70cm/resource/v_69323/link_0.usd
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diff --git a/Articulated_objects/Ikea_furniture/EKET_Cabinet_with_2_drawers_white_70x35x35cm/resource/img/2dadd6833ca12ca6395d878079d38432.png b/Articulated_objects/Ikea_furniture/EKET_Cabinet_with_2_drawers_white_70x35x35cm/resource/img/2dadd6833ca12ca6395d878079d38432.png
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diff --git a/Articulated_objects/Ikea_furniture/HAVSTA_chest_of_6_drawers_ white_121x47x89cm/resource/material.usd b/Articulated_objects/Ikea_furniture/HAVSTA_chest_of_6_drawers_ white_121x47x89cm/resource/material.usd
new file mode 100755
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+++ b/Articulated_objects/Ikea_furniture/HAVSTA_chest_of_6_drawers_ white_121x47x89cm/resource/material.usd	
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/Articulated_objects/Ikea_furniture/HAVSTA_chest_of_6_drawers_ white_121x47x89cm/resource/v_69323/element_path.json b/Articulated_objects/Ikea_furniture/HAVSTA_chest_of_6_drawers_ white_121x47x89cm/resource/v_69323/element_path.json
new file mode 100755
index 0000000000000000000000000000000000000000..5e3d33c0a7c1ac96ab6ee868207882e830f39c63
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/HAVSTA_chest_of_6_drawers_ white_121x47x89cm/resource/v_69323/element_path.json	
@@ -0,0 +1,22 @@
+{
+    "16": "/root/E_GULLABERG_chest_of_8_drawers_grey_anchor_unlock_function_89x48x122cm_16",
+    "43": "/root/E_drawer01_43",
+    "32": "/root/E_drawer01_43/E_part1_1_32",
+    "33": "/root/E_drawer01_43/E_handle_33",
+    "48": "/root/E_drawer03_48",
+    "34": "/root/E_drawer03_48/E_part3_1_34",
+    "36": "/root/E_drawer03_48/E_handle_36",
+    "44": "/root/E_drawer02_44",
+    "45": "/root/E_drawer02_44/E_handle_45",
+    "46": "/root/E_drawer02_44/E_part2_1_46",
+    "53": "/root/E_drawer04_53",
+    "52": "/root/E_drawer04_53/E_handle_52",
+    "54": "/root/E_drawer04_53/E_part4_1_54",
+    "57": "/root/E_drawer05_57",
+    "55": "/root/E_drawer05_57/E_handle_55",
+    "59": "/root/E_drawer06_59",
+    "56": "/root/E_drawer06_59/E_handle_56",
+    "58": "/root/E_drawer05_57/E_part5_1_58",
+    "60": "/root/E_drawer06_59/E_part6_1_60",
+    "61": "/root/E_GULLABERG_chest_of_8_drawers_grey_anchor_unlock_function_89x48x122cm_16/E_tabletop_61"
+}
\ No newline at end of file
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+version https://git-lfs.github.com/spec/v1
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+size 234217
diff --git a/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/.collect.mapping.json b/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/.collect.mapping.json
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index 0000000000000000000000000000000000000000..63f4dcf3e92106a2fbf7eb4a3cef6adf69790d63
--- /dev/null
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@@ -0,0 +1,29 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "C:/xufang/USD Room/IKEA/Three/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/model_HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm.usd",
+            "source_hash": "e52672822c9755e25ba730c0b3921ebe1c720312",
+            "target_url": "./model_HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm.usd",
+            "target_hash": "50cd1729116bcf84d8296b414eaab7d6e1748c63"
+        },
+        {
+            "source_url": "C:/NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl",
+            "source_hash": "4f0a8491bb73517be6b84a9bb9abd025e2b1d06c",
+            "target_url": "./NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl",
+            "target_hash": "d857149f2b9d159a6c1157cc5bf24259fa3f1497"
+        },
+        {
+            "source_url": "C:/xufang/USD Room/IKEA/Three/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/resource/img/548d21aeb790a28d50504f6022ea198d.png",
+            "source_hash": "636c5b9c3dcf7b38b02250ab3ae31f4d151d169d",
+            "target_url": "./resource/img/548d21aeb790a28d50504f6022ea198d.png",
+            "target_hash": "636c5b9c3dcf7b38b02250ab3ae31f4d151d169d"
+        },
+        {
+            "source_url": "C:/xufang/USD Room/IKEA/Three/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/resource/img/b017a1da92c9ae50717b3f3240e4edce.png",
+            "source_hash": "2012147787b48a723e7052aacc27d228c94db87c",
+            "target_url": "./resource/img/b017a1da92c9ae50717b3f3240e4edce.png",
+            "target_hash": "2012147787b48a723e7052aacc27d228c94db87c"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl b/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl
new file mode 100755
index 0000000000000000000000000000000000000000..d6c08a66ec3d6465474bf1e93968a42c369059a1
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl
@@ -0,0 +1,43 @@
+mdl 1.3;
+
+import ::OmniGlass::OmniGlass;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = OmniGlass::OmniGlass(
+    absorption_coeff: color(1.f, 1.f, 1.f),
+    glass_color: color(1.f, 1.f, 1.f),
+    use_glass_color_texture: false,
+    glass_color_texture: texture_2d(),
+    frosting_roughness: 0.f,
+    glass_ior: 1.52f,
+    thin_walled: true,
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f));
+	
+/*	
+mdl 1.5;
+
+import ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume(
+    thin_walled: true,
+    transmission_color: color(1.f, 1.f, 1.f),
+    roughness_texture: texture_2d(),
+    ior: 1.52f,
+    transmission_color_texture: texture_2d(),
+    roughness_texture_influence: 0.f,
+    roughness: 0.f,
+    reflection_color_texture: texture_2d(),
+    reflection_color: color(1.f, 1.f, 1.f),
+    depth: 0.0001f,
+    normal_map_texture: texture_2d());
+*/
diff --git a/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/model_HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm.usd b/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/model_HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm.usd
new file mode 100755
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8686e312e087bf26c8cb6aede5052bfa56800707bcc15e847a0fb30d24ed83c
+size 23609
diff --git a/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/resource/img/548d21aeb790a28d50504f6022ea198d.png b/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/resource/img/548d21aeb790a28d50504f6022ea198d.png
new file mode 100755
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--- /dev/null
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+size 1019916
diff --git a/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/resource/img/b017a1da92c9ae50717b3f3240e4edce.png b/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/resource/img/b017a1da92c9ae50717b3f3240e4edce.png
new file mode 100755
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diff --git a/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/resource/material.usd b/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/resource/material.usd
new file mode 100755
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diff --git a/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/HEMNES_Glass_door_cabinet_with_3_drawers_grey_green_light_brown_stained_90x197cm/resource/v_69323/link_0.usd
new file mode 100755
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new file mode 100755
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@@ -0,0 +1,3 @@
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+size 24992
diff --git a/Articulated_objects/Ikea_furniture/IDANAS_Desk_white_152x70cm/resource/img/cef633647449ca365ce1d6f1fd24b180.png b/Articulated_objects/Ikea_furniture/IDANAS_Desk_white_152x70cm/resource/img/cef633647449ca365ce1d6f1fd24b180.png
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diff --git a/Articulated_objects/Ikea_furniture/IDANAS_Desk_white_152x70cm/resource/material.usd b/Articulated_objects/Ikea_furniture/IDANAS_Desk_white_152x70cm/resource/material.usd
new file mode 100755
index 0000000000000000000000000000000000000000..c2b65dac4591f971d2c81f9d89b0e91eb417f9ef
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2144
diff --git a/Articulated_objects/Ikea_furniture/IDANAS_Desk_white_152x70cm/resource/v_69323/element_path.json b/Articulated_objects/Ikea_furniture/IDANAS_Desk_white_152x70cm/resource/v_69323/element_path.json
new file mode 100755
index 0000000000000000000000000000000000000000..6201adf344d5254ba747942c28a9f1d8821d415d
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/IDANAS_Desk_white_152x70cm/resource/v_69323/element_path.json
@@ -0,0 +1,30 @@
+{
+    "81": "/root/E_IDANAS_Desk_white_152x70cm_81",
+    "30": "/root/E_IDANAS_Desk_white_152x70cm_81/E_part1_30",
+    "58": "/root/E_drawer2_58",
+    "58Geo": "/root/E_drawer2_58/E_drawer2_58Geo",
+    "59": "/root/E_door_59",
+    "59Geo": "/root/E_door_59/E_door_59Geo",
+    "60": "/root/E_drawer1_60",
+    "60Geo": "/root/E_drawer1_60/E_drawer1_60Geo",
+    "69": "/root/E_IDANAS_Desk_white_152x70cm_81/E_part9_69",
+    "71": "/root/E_IDANAS_Desk_white_152x70cm_81/E_part8_71",
+    "72": "/root/E_IDANAS_Desk_white_152x70cm_81/E_part7_72",
+    "73": "/root/E_IDANAS_Desk_white_152x70cm_81/E_part6_73",
+    "74": "/root/E_IDANAS_Desk_white_152x70cm_81/E_part5_74",
+    "75": "/root/E_IDANAS_Desk_white_152x70cm_81/E_part4_75",
+    "76": "/root/E_IDANAS_Desk_white_152x70cm_81/E_part3_76",
+    "77": "/root/E_IDANAS_Desk_white_152x70cm_81/E_part2_77",
+    "78": "/root/E_IDANAS_Desk_white_152x70cm_81/E_shelf_78",
+    "79": "/root/E_IDANAS_Desk_white_152x70cm_81/E_shelf_79",
+    "80": "/root/E_IDANAS_Desk_white_152x70cm_81/E_tabletop_80",
+    "82": "/root/E_door_59/E_handle_82",
+    "83": "/root/E_drawer1_60/E_handle_83",
+    "84": "/root/E_drawer2_58/E_handle_84",
+    "85": "/root/E_IDANAS_Desk_white_152x70cm_81/E_part11_85",
+    "86": "/root/E_IDANAS_Desk_white_152x70cm_81/E_part10_86",
+    "87": "/root/E_drawer1_60/E_part1_2_87",
+    "88": "/root/E_drawer1_60/E_part1_1_88",
+    "89": "/root/E_drawer2_58/E_part2_2_89",
+    "90": "/root/E_drawer2_58/E_part2_1_90"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/IDANAS_Desk_white_152x70cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/IDANAS_Desk_white_152x70cm/resource/v_69323/link_0.usd
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 294547
diff --git a/Articulated_objects/Ikea_furniture/KILBERGET_chest_of_6_drawers_white_anchor_unlock_function_144x78cm/model_KILBERGET_chest_of_6_drawers_white_anchor_unlock_function_144x78cm.usd b/Articulated_objects/Ikea_furniture/KILBERGET_chest_of_6_drawers_white_anchor_unlock_function_144x78cm/model_KILBERGET_chest_of_6_drawers_white_anchor_unlock_function_144x78cm.usd
new file mode 100755
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+size 2554
diff --git a/Articulated_objects/Ikea_furniture/RADMANSO_chest_of_3_drawers_brown_walnut_effect_90x48x81cm/resource/v_69323/element_path.json b/Articulated_objects/Ikea_furniture/RADMANSO_chest_of_3_drawers_brown_walnut_effect_90x48x81cm/resource/v_69323/element_path.json
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@@ -0,0 +1,19 @@
+{
+    "1": "/root/E_RaDMANSo_chest_of_3_drawers_brown_walnut_effect_90x48x81cm_1",
+    "3": "/root/E_drawer1_3",
+    "17": "/root/E_drawer1_3/E_handle_17",
+    "20": "/root/E_RaDMANSo_chest_of_3_drawers_brown_walnut_effect_90x48x81cm_1/E_part5_20",
+    "21": "/root/E_drawer1_3/E_part1_1_21",
+    "23": "/root/E_RaDMANSo_chest_of_3_drawers_brown_walnut_effect_90x48x81cm_1/E_part3_23",
+    "25": "/root/E_RaDMANSo_chest_of_3_drawers_brown_walnut_effect_90x48x81cm_1/E_part2_25",
+    "28": "/root/E_drawer2_28",
+    "26": "/root/E_drawer2_28/E_handle_26",
+    "27": "/root/E_drawer2_28/E_part2_1_27",
+    "29": "/root/E_RaDMANSo_chest_of_3_drawers_brown_walnut_effect_90x48x81cm_1/E_part1_29",
+    "32": "/root/E_drawer3_32",
+    "30": "/root/E_drawer3_32/E_handle_30",
+    "31": "/root/E_drawer3_32/E_part3_1_31",
+    "33": "/root/E_RaDMANSo_chest_of_3_drawers_brown_walnut_effect_90x48x81cm_1/E_tabletop_33",
+    "7": "/root/E_RaDMANSo_chest_of_3_drawers_brown_walnut_effect_90x48x81cm_1/E_part7_7",
+    "8": "/root/E_RaDMANSo_chest_of_3_drawers_brown_walnut_effect_90x48x81cm_1/E_part6_8"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/RADMANSO_chest_of_3_drawers_brown_walnut_effect_90x48x81cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/RADMANSO_chest_of_3_drawers_brown_walnut_effect_90x48x81cm/resource/v_69323/link_0.usd
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+size 618403
diff --git a/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/.thumbs/256x256/model_RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm.usd.png b/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/.thumbs/256x256/model_RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm.usd.png
new file mode 100755
index 0000000000000000000000000000000000000000..824bbd399567120e7f9e7cfa5eb1670435b63454
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+++ b/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/.thumbs/256x256/model_RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm.usd.png	
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 28644
diff --git a/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/model_RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm.json b/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/model_RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm.json
new file mode 100755
index 0000000000000000000000000000000000000000..c68b3719dc70154bda6591366dce950fd026c6ce
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/model_RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm.json	
@@ -0,0 +1,29 @@
+{
+    "models": {
+        "cap_0": {
+            "name": "cap_0",
+            "parentPath": "/World",
+            "server": "/home/extwin/usd",
+            "vaultID": "mv",
+            "modelID": "fedsfsdfd",
+            "view_dict": {
+                "0": "/World/cap_0/v_0"
+            },
+            "offset": [
+                0,
+                0,
+                0
+            ],
+            "rotation": [
+                0,
+                0,
+                0
+            ],
+            "scale": [
+                1,
+                1,
+                1
+            ]
+        }
+    }
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/model_RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm.usd b/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/model_RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm.usd
new file mode 100755
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+++ b/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/model_RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm.usd	
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 17499
diff --git a/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/resource/img/29d62ea32d96d96c6cfd7e7eb47982f3.png b/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/resource/img/29d62ea32d96d96c6cfd7e7eb47982f3.png
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index 0000000000000000000000000000000000000000..653051f93b86b369232b77983156af38bfa9999a
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+++ b/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/resource/material.usd	
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2291
diff --git a/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/resource/v_69323/element_path.json b/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/resource/v_69323/element_path.json
new file mode 100755
index 0000000000000000000000000000000000000000..c691540ce304d27d4c00ba6756da904a0c227027
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/resource/v_69323/element_path.json	
@@ -0,0 +1,7 @@
+{
+    "14": "/root/E_door1_14",
+    "18": "/root/E_door1_14/E_handle_18",
+    "22": "/root/E_door2_22",
+    "21": "/root/E_door2_22/E_handle_21",
+    "3": "/root/E_RAKKESTAD_wardrobe_with_2_doors_black_brown_79x176cm_3"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/RAKKESTAD_wardrobe_with_2_doors_ black_brown_79x176cm/resource/v_69323/link_0.usd
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 179031
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/.collect.mapping.json b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/.collect.mapping.json
new file mode 100755
index 0000000000000000000000000000000000000000..0af7265bc151e42e3630b6b040b87ae1c7c6bd43
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/.collect.mapping.json
@@ -0,0 +1,53 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "C:/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast.mdl",
+            "source_hash": "329d4d2ffaa90add2048cf6ba11dbaa0c212f7ba",
+            "target_url": "./NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast.mdl",
+            "target_hash": "bd6d7e7297d512f83b57209f9b768300f59bcd4f"
+        },
+        {
+            "source_url": "C:/NVIDIA/Materials/2023_1/Base/Plastics/Plastic_Acrylic.mdl",
+            "source_hash": "66cf939a7e67b14ecb57330f8d9060b708441b54",
+            "target_url": "./NVIDIA/Materials/2023_1/Base/Plastics/Plastic_Acrylic.mdl",
+            "target_hash": "985df4f16bd1f843c1b79e0360724788e85b8d57"
+        },
+        {
+            "source_url": "C:/xufang/USD Room/IKEA/Three/1/RIDSPO_Desk_oak_140X70cm/resource/img/1694f0537ccc1c37f61dbefec8cbcf42.png",
+            "source_hash": "a1a53f60fda322782e119e50fab54d6082e39dc9",
+            "target_url": "./resource/img/1694f0537ccc1c37f61dbefec8cbcf42.png",
+            "target_hash": "a1a53f60fda322782e119e50fab54d6082e39dc9"
+        },
+        {
+            "source_url": "C:/xufang/USD Room/IKEA/Three/1/RIDSPO_Desk_oak_140X70cm/resource/img/483dcbac4a1683d2ec4e73847ceb6123.png",
+            "source_hash": "2d21ac85fb2ecffb4d6b5bbbd6f945f446419a0e",
+            "target_url": "./resource/img/483dcbac4a1683d2ec4e73847ceb6123.png",
+            "target_hash": "2d21ac85fb2ecffb4d6b5bbbd6f945f446419a0e"
+        },
+        {
+            "source_url": "C:/xufang/USD Room/IKEA/Three/1/RIDSPO_Desk_oak_140X70cm/resource/img/e0df6c76bda26bdb67693c3a1804b73d.png",
+            "source_hash": "03c241c6738f4acded6069b8ae396acc0e90edba",
+            "target_url": "./resource/img/e0df6c76bda26bdb67693c3a1804b73d.png",
+            "target_hash": "03c241c6738f4acded6069b8ae396acc0e90edba"
+        },
+        {
+            "source_url": "C:/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_BaseColor.png",
+            "source_hash": "6f0c1fd1e1de83f5f684414659e2f1f1ff1aab6c",
+            "target_url": "./NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_BaseColor.png",
+            "target_hash": "6f0c1fd1e1de83f5f684414659e2f1f1ff1aab6c"
+        },
+        {
+            "source_url": "C:/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_ORM.png",
+            "source_hash": "909f7da4db506505ae0c54313851592a2b954725",
+            "target_url": "./NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_ORM.png",
+            "target_hash": "909f7da4db506505ae0c54313851592a2b954725"
+        },
+        {
+            "source_url": "C:/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_N.png",
+            "source_hash": "637ed21aa84ba71683d69c2d5fe305051b2439cf",
+            "target_url": "./NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_N.png",
+            "target_hash": "637ed21aa84ba71683d69c2d5fe305051b2439cf"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/.thumbs/256x256/model_RIDSPO_Desk_oak_140X70cm.usd.png b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/.thumbs/256x256/model_RIDSPO_Desk_oak_140X70cm.usd.png
new file mode 100755
index 0000000000000000000000000000000000000000..d788631ffe9b8c4747aac605403a778bee27fc60
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/.thumbs/256x256/model_RIDSPO_Desk_oak_140X70cm.usd.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5f1c600662d3237141ead78ba65b97e38d7579d971054dde330a8c93ec09ba2
+size 50220
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast.mdl b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast.mdl
new file mode 100755
index 0000000000000000000000000000000000000000..429842f836b917a518f5040bd9db6ec55400ce08
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast.mdl
@@ -0,0 +1,54 @@
+mdl 1.4;
+
+import ::OmniPBR::OmniPBR;
+import ::anno::author;
+import ::anno::description;
+import ::anno::display_name;
+import ::anno::key_words;
+import ::anno::version;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Aluminum_Cast(*)
+[[
+    ::anno::display_name("Omni PBR "),
+    ::anno::description("Omni PBR, supports ORM textures"),
+    ::anno::version(1, 0, 0, ""),
+    ::anno::author("NVIDIA CORPORATION"),
+    ::anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
+]]
+ = ::OmniPBR::OmniPBR(
+    diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f),
+    diffuse_texture: texture_2d("./Aluminum_Cast/Aluminum_Cast_BaseColor.png" /* tag 2739, version 3703676365 */, ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),
+    reflection_roughness_constant: 0.5f,
+    reflection_roughness_texture_influence: 1.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.f,
+    metallic_texture_influence: 1.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("./Aluminum_Cast/Aluminum_Cast_ORM.png" /* tag 2741, version 2892271140 */, ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.f, 0.100000001f, 0.100000001f),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 40.f,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("./Aluminum_Cast/Aluminum_Cast_N.png" /* tag 2743, version 2148533726 */, ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_BaseColor.png b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_BaseColor.png
new file mode 100755
index 0000000000000000000000000000000000000000..ca744539be764116ef8d64a9ef9eb815f00814d7
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_BaseColor.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03ab7494d37e1f6551a26894628c5fe03a65b4d85a09ed11337e184852a580b3
+size 1154931
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_N.png b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_N.png
new file mode 100755
index 0000000000000000000000000000000000000000..d01c8569858b610ab3b5594f97590a5d9a2a922e
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_N.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:812c0161ea14abc581cb35c47b33dc6005c089f8e82dca6cb4dd4832deb0556c
+size 6557833
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_ORM.png b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_ORM.png
new file mode 100755
index 0000000000000000000000000000000000000000..9c237244127ac6fdce0ded7cb69a55533864a962
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Metals/Aluminum_Cast/Aluminum_Cast_ORM.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:571eba5a99da444b681609a722a29914490c6dae45d230dac471a45875211a4c
+size 4198310
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Plastics/Plastic_Acrylic.mdl b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Plastics/Plastic_Acrylic.mdl
new file mode 100755
index 0000000000000000000000000000000000000000..33bd1f592cc894346d3ba08a8ededbb320dd4e8e
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/NVIDIA/Materials/2023_1/Base/Plastics/Plastic_Acrylic.mdl
@@ -0,0 +1,21 @@
+mdl 1.3;
+
+import ::OmniGlass::OmniGlass;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Plastic_Acrylic(*)
+ = OmniGlass::OmniGlass(
+    absorption_coeff: color(1.f, 1.f, 1.f),
+    glass_color: color(1.f, 1.f, 1.f),
+    use_glass_color_texture: false,
+    glass_color_texture: texture_2d(),
+    frosting_roughness: 0.f,
+    glass_ior: 1.5f,
+    thin_walled: true,
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f));
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/model_RIDSPO_Desk_oak_140X70cm.json b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/model_RIDSPO_Desk_oak_140X70cm.json
new file mode 100755
index 0000000000000000000000000000000000000000..c68b3719dc70154bda6591366dce950fd026c6ce
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/model_RIDSPO_Desk_oak_140X70cm.json
@@ -0,0 +1,29 @@
+{
+    "models": {
+        "cap_0": {
+            "name": "cap_0",
+            "parentPath": "/World",
+            "server": "/home/extwin/usd",
+            "vaultID": "mv",
+            "modelID": "fedsfsdfd",
+            "view_dict": {
+                "0": "/World/cap_0/v_0"
+            },
+            "offset": [
+                0,
+                0,
+                0
+            ],
+            "rotation": [
+                0,
+                0,
+                0
+            ],
+            "scale": [
+                1,
+                1,
+                1
+            ]
+        }
+    }
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/model_RIDSPO_Desk_oak_140X70cm.usd b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/model_RIDSPO_Desk_oak_140X70cm.usd
new file mode 100755
index 0000000000000000000000000000000000000000..1667c5ff60c25629479f09e5df850db2cc5240ef
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/model_RIDSPO_Desk_oak_140X70cm.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:836d68c17a323c448122d09bda4a1e317093d486f4da25ffc463ba4ff0dc6f18
+size 17850
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/img/1694f0537ccc1c37f61dbefec8cbcf42.png b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/img/1694f0537ccc1c37f61dbefec8cbcf42.png
new file mode 100755
index 0000000000000000000000000000000000000000..1f363c9a3be34e18993c49aaa4e4e5f25b2719f2
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/img/1694f0537ccc1c37f61dbefec8cbcf42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c72c33f2ea598898cd0942a74d1a3aaedcf10d0640752cae9b030bbd4f4fb39
+size 20148
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/img/483dcbac4a1683d2ec4e73847ceb6123.png b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/img/483dcbac4a1683d2ec4e73847ceb6123.png
new file mode 100755
index 0000000000000000000000000000000000000000..d2b517b52b47848e20159c1369ce07f65ebb023a
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/img/483dcbac4a1683d2ec4e73847ceb6123.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:317bce7301e0a42d1287fe3f835d457a7fca616034974eafd03e49bfcc4aca70
+size 50650
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/img/e0df6c76bda26bdb67693c3a1804b73d.png b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/img/e0df6c76bda26bdb67693c3a1804b73d.png
new file mode 100755
index 0000000000000000000000000000000000000000..447489c94aae10cf7ef55002794e09998786a00f
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/img/e0df6c76bda26bdb67693c3a1804b73d.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b659c523f29eece612bd0b56399e6428687c6f260565cdcb1eabc7261526345
+size 170360
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/material.usd b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/material.usd
new file mode 100755
index 0000000000000000000000000000000000000000..d118c3ec1270c185f7c2f722339cee8081fbffe2
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/material.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a9ff0f2c2d19afc0a64f595ff51855902b9cca31151a5da7d4cc25944c194b1
+size 3086
diff --git a/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/v_69323/link_0.usd
new file mode 100755
index 0000000000000000000000000000000000000000..90f2fc4cb8e314f814042656d4f3aa238eccaf3a
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/RIDSPO_Desk_oak_140X70cm/resource/v_69323/link_0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f18b88d598b41f6bb820f7d3546c4da63c8a804dd62f512ee9f6fe601ea50c3
+size 5473605
diff --git a/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/.thumbs/256x256/model_SMAGORA_wardrobe_white_80x50x187cm.usd.png b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/.thumbs/256x256/model_SMAGORA_wardrobe_white_80x50x187cm.usd.png
new file mode 100755
index 0000000000000000000000000000000000000000..397dc8a9aa80a8df2ebd65527eebd818cdf354b3
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/.thumbs/256x256/model_SMAGORA_wardrobe_white_80x50x187cm.usd.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3655b30b6c25d0d3062821a3deee4a2a7e56bc3c0ddd387c5716bccba088203b
+size 16490
diff --git a/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/model_SMAGORA_wardrobe_white_80x50x187cm.json b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/model_SMAGORA_wardrobe_white_80x50x187cm.json
new file mode 100755
index 0000000000000000000000000000000000000000..c68b3719dc70154bda6591366dce950fd026c6ce
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/model_SMAGORA_wardrobe_white_80x50x187cm.json
@@ -0,0 +1,29 @@
+{
+    "models": {
+        "cap_0": {
+            "name": "cap_0",
+            "parentPath": "/World",
+            "server": "/home/extwin/usd",
+            "vaultID": "mv",
+            "modelID": "fedsfsdfd",
+            "view_dict": {
+                "0": "/World/cap_0/v_0"
+            },
+            "offset": [
+                0,
+                0,
+                0
+            ],
+            "rotation": [
+                0,
+                0,
+                0
+            ],
+            "scale": [
+                1,
+                1,
+                1
+            ]
+        }
+    }
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/model_SMAGORA_wardrobe_white_80x50x187cm.usd b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/model_SMAGORA_wardrobe_white_80x50x187cm.usd
new file mode 100755
index 0000000000000000000000000000000000000000..96f738d3a72e711a202145a38a54706e74e465ec
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/model_SMAGORA_wardrobe_white_80x50x187cm.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f62e8652f308d83c2ea9ae3463c3c53a8db2c5ddfa4aa18f0696d2921eb81e
+size 12806
diff --git a/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/resource/img/ca9bbc8d0a9843c2432483b82df178a7.png b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/resource/img/ca9bbc8d0a9843c2432483b82df178a7.png
new file mode 100755
index 0000000000000000000000000000000000000000..b550612f47b9da8f63cb955d84afdee053c492d8
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/resource/img/ca9bbc8d0a9843c2432483b82df178a7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d37201474d62863ccc820601e0a67f04e76f37deb9ec5c91bf1d58c6aca34874
+size 41930
diff --git a/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/resource/material.usd b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/resource/material.usd
new file mode 100755
index 0000000000000000000000000000000000000000..657d244d75371ce34c5f3def30e8c8a261714eb3
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/resource/material.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:277c1ec2eb4ed156c0f836d95d3b7c30058faed80e27da9797edbb582f6863f9
+size 2019
diff --git a/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/resource/v_69323/element_path.json b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/resource/v_69323/element_path.json
new file mode 100755
index 0000000000000000000000000000000000000000..e2812da8a32f65acbd17bf573e955e81291778d9
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/resource/v_69323/element_path.json
@@ -0,0 +1,10 @@
+{
+    "1": "/root/E_SMaGoRA_wardrobe_white_80x50x187cm_1",
+    "10": "/root/E_door1_10",
+    "11": "/root/E_door2_11",
+    "12": "/root/E_door1_10/E_handle_12",
+    "13": "/root/E_door2_11/E_handle_13",
+    "21": "/root/E_SMaGoRA_wardrobe_white_80x50x187cm_1/E_pole_21",
+    "23": "/root/E_SMaGoRA_wardrobe_white_80x50x187cm_1/E_shelf_23",
+    "24": "/root/E_SMaGoRA_wardrobe_white_80x50x187cm_1/E_shelf_24"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/resource/v_69323/link_0.usd
new file mode 100755
index 0000000000000000000000000000000000000000..5d22d5f5fe3fff9fd018df0c4ecce43f034335e4
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SMAGORA_wardrobe_white_80x50x187cm/resource/v_69323/link_0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a9c3759a79ebf82581114929867002550aebcb98912d000fdc4514de437a821
+size 632234
diff --git a/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/model_STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm.usd b/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/model_STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm.usd
new file mode 100755
index 0000000000000000000000000000000000000000..25f1c0a56a994728f34257e14b859bfeb9a36450
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/model_STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:967b416d8d1c967b0293de0027ca0d4293bb831fb881625bf5a47c186674e441
+size 20630
diff --git a/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/resource/img/34190a09eaccd8a12b198ffa6521d6e7.png b/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/resource/img/34190a09eaccd8a12b198ffa6521d6e7.png
new file mode 100755
index 0000000000000000000000000000000000000000..344fbfecf701f830c705f7fd26a3f6072ec28c2b
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/resource/img/34190a09eaccd8a12b198ffa6521d6e7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cfb70a24b64d70a80aac562793361ef17e26a77adf0c354115e4510bfe46f17
+size 209668
diff --git a/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/resource/material.usd b/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/resource/material.usd
new file mode 100755
index 0000000000000000000000000000000000000000..7de793af9da83d3e8c77c6f2576fdb760f5d66c6
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/resource/material.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c94cc1f798ea82e5888a15e8cfed261cae2df9749c211b4645f60deef3d7bbb8
+size 2025
diff --git a/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/resource/v_69323/element_path.json b/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/resource/v_69323/element_path.json
new file mode 100755
index 0000000000000000000000000000000000000000..968598bfc8da256b676b6cecc59d63088baded6d
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/resource/v_69323/element_path.json
@@ -0,0 +1,14 @@
+{
+    "27": "/root/E_drawer1_27",
+    "28": "/root/E_door1_28",
+    "29": "/root/E_drawer2_29",
+    "31": "/root/E_door2_31",
+    "32": "/root/E_door3_32",
+    "33": "/root/E_door4_33",
+    "9": "/root/E_STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm_9",
+    "34": "/root/E_STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm_9/E_shelf_34",
+    "35": "/root/E_STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm_9/E_shelf_35",
+    "36": "/root/E_STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm_9/E_tabletop_36",
+    "42": "/root/E_STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm_9/E_part1_42",
+    "9Geo": "/root/E_STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm_9/E_STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm_9Geo"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/STOCKHOLM_2025_Sideboard_oak_veneer_161x42x83cm/resource/v_69323/link_0.usd
new file mode 100755
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+version https://git-lfs.github.com/spec/v1
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+size 35451
diff --git a/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/model_SUNDVIK_Childrens_desk_white_60x45cm.usd b/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/model_SUNDVIK_Childrens_desk_white_60x45cm.usd
new file mode 100755
index 0000000000000000000000000000000000000000..e4ee46e53fb9f47161571d9863f3f168bf211f0e
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/model_SUNDVIK_Childrens_desk_white_60x45cm.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 87312
diff --git a/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/resource/img/e6fcff107016ffc4fa693b9b86d95208.png b/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/resource/img/e6fcff107016ffc4fa693b9b86d95208.png
new file mode 100755
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 252777
diff --git a/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/resource/material.usd b/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/resource/material.usd
new file mode 100755
index 0000000000000000000000000000000000000000..8967a8ecaa0312702c855abb5ee9ab44ca6ec13a
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+++ b/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/resource/material.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2027
diff --git a/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/resource/v_69323/element_path.json b/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/resource/v_69323/element_path.json
new file mode 100755
index 0000000000000000000000000000000000000000..42d41fd1f2565a18da45b5d453d921aeccfa266e
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/resource/v_69323/element_path.json
@@ -0,0 +1,10 @@
+{
+    "25": "/root/E_NORDKISA_Dressing_table_bamboo_76x47cm_25",
+    "18": "/root/E_NORDKISA_Dressing_table_bamboo_76x47cm_25/E_part1_18",
+    "19": "/root/E_lid_19",
+    "20": "/root/E_NORDKISA_Dressing_table_bamboo_76x47cm_25/E_tabletop_20",
+    "21": "/root/E_NORDKISA_Dressing_table_bamboo_76x47cm_25/E_shelf_21",
+    "22": "/root/E_NORDKISA_Dressing_table_bamboo_76x47cm_25/E_part4_22",
+    "23": "/root/E_NORDKISA_Dressing_table_bamboo_76x47cm_25/E_part3_23",
+    "24": "/root/E_NORDKISA_Dressing_table_bamboo_76x47cm_25/E_part2_24"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/SUNDVIK_Childrens_desk_white_60x45cm/resource/v_69323/link_0.usd
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@@ -0,0 +1,3 @@
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diff --git a/Articulated_objects/Ikea_furniture/SUNDVIK_wardrobe_white_80x50x172cm/model_SUNDVIK_wardrobe_white_80x50x172cm.usd b/Articulated_objects/Ikea_furniture/SUNDVIK_wardrobe_white_80x50x172cm/model_SUNDVIK_wardrobe_white_80x50x172cm.usd
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@@ -0,0 +1,3 @@
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diff --git a/Articulated_objects/Ikea_furniture/SUNDVIK_wardrobe_white_80x50x172cm/resource/img/ff3c4a97620aba12810d836aa7f790a4.png b/Articulated_objects/Ikea_furniture/SUNDVIK_wardrobe_white_80x50x172cm/resource/img/ff3c4a97620aba12810d836aa7f790a4.png
new file mode 100755
index 0000000000000000000000000000000000000000..fae6f8795f3d57716d7bf0575036612690ca3a55
--- /dev/null
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@@ -0,0 +1,3 @@
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+size 75624
diff --git a/Articulated_objects/Ikea_furniture/SUNDVIK_wardrobe_white_80x50x172cm/resource/material.usd b/Articulated_objects/Ikea_furniture/SUNDVIK_wardrobe_white_80x50x172cm/resource/material.usd
new file mode 100755
index 0000000000000000000000000000000000000000..797ea43aa340ad7e3b5e6b2f331a479a0624d5d6
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SUNDVIK_wardrobe_white_80x50x172cm/resource/material.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2027
diff --git a/Articulated_objects/Ikea_furniture/SUNDVIK_wardrobe_white_80x50x172cm/resource/v_69323/element_path.json b/Articulated_objects/Ikea_furniture/SUNDVIK_wardrobe_white_80x50x172cm/resource/v_69323/element_path.json
new file mode 100755
index 0000000000000000000000000000000000000000..007da230ddeb98c8d2a7773a8da40107db528efa
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SUNDVIK_wardrobe_white_80x50x172cm/resource/v_69323/element_path.json
@@ -0,0 +1,11 @@
+{
+    "3": "/root/E_SUNDVIK_wardrobe_white_80x50x172cm_3",
+    "46": "/root/E_door1_46",
+    "47": "/root/E_door2_47",
+    "48": "/root/E_SUNDVIK_wardrobe_white_80x50x172cm_3/E_shelf_48",
+    "49": "/root/E_SUNDVIK_wardrobe_white_80x50x172cm_3/E_shelf_49",
+    "5": "/root/E_door2_47/E_handle_5",
+    "9": "/root/E_drawer_9",
+    "7": "/root/E_drawer_9/E_handle_7",
+    "8": "/root/E_door1_46/E_handle_8"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/SUNDVIK_wardrobe_white_80x50x172cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/SUNDVIK_wardrobe_white_80x50x172cm/resource/v_69323/link_0.usd
new file mode 100755
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+version https://git-lfs.github.com/spec/v1
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+size 436871
diff --git a/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/model_SYVDE_Dressing_ table_white_100x48cm.usd b/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/model_SYVDE_Dressing_ table_white_100x48cm.usd
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/resource/img/f03eca65f229508c83145d0965ee89ad.png b/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/resource/img/f03eca65f229508c83145d0965ee89ad.png
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/resource/material.usd b/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/resource/material.usd
new file mode 100755
index 0000000000000000000000000000000000000000..96bbaf2bfd78b81a879ad456b3aa9a8cad5d0ef1
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/resource/material.usd	
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59dd9b829b361838755c63533d4156f1d4569a2ece60b688ea3f019a77403f89
+size 2027
diff --git a/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/resource/v_69323/element_path.json b/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/resource/v_69323/element_path.json
new file mode 100755
index 0000000000000000000000000000000000000000..ef9e89f0d11343a8920caad4909e2ac0f5db1333
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/resource/v_69323/element_path.json	
@@ -0,0 +1,12 @@
+{
+    "20": "/root/E_SYVDE_Dressing_table_white_100x48cm_20",
+    "20Geo": "/root/E_SYVDE_Dressing_table_white_100x48cm_20/E_SYVDE_Dressing_table_white_100x48cm_20Geo",
+    "27": "/root/E_drawer2_27",
+    "27Geo": "/root/E_drawer2_27/E_drawer2_27Geo",
+    "28": "/root/E_SYVDE_Dressing_table_white_100x48cm_20/E_tabletop_28",
+    "29": "/root/E_drawer1_29",
+    "29Geo": "/root/E_drawer1_29/E_drawer1_29Geo",
+    "31": "/root/E_SYVDE_Dressing_table_white_100x48cm_20/E_tabletop_31",
+    "32": "/root/E_drawer1_29/E_handle_32",
+    "34": "/root/E_drawer2_27/E_handle_34"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/resource/v_69323/link_0.usd
new file mode 100755
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--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/SYVDE_Dressing_ table_white_100x48cm/resource/v_69323/link_0.usd	
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/.collect.mapping.json b/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/.collect.mapping.json
new file mode 100755
index 0000000000000000000000000000000000000000..3703f566f7c94637f6b464f28d92429b6c49d9d7
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/.collect.mapping.json
@@ -0,0 +1,29 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "C:/xufang/USD Room/IKEA/Three/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/model_TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm.usd",
+            "source_hash": "58f7b0affbaf0de91c00e629f7e91555d476c5b7",
+            "target_url": "./model_TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm.usd",
+            "target_hash": "b7318b0f955c47e28e4adc226bc1d5c00166b4ec"
+        },
+        {
+            "source_url": "C:/NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl",
+            "source_hash": "4f0a8491bb73517be6b84a9bb9abd025e2b1d06c",
+            "target_url": "./NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl",
+            "target_hash": "5385c445996e5161eaa90d9dc1e1f968deffcbd2"
+        },
+        {
+            "source_url": "C:/xufang/USD Room/IKEA/Three/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/resource/img/4ef85973f68cbab6254a8863eff1c8e0.png",
+            "source_hash": "5532fffed172a7fc395d4d8e7eaf8651b67be8c1",
+            "target_url": "./resource/img/4ef85973f68cbab6254a8863eff1c8e0.png",
+            "target_hash": "5532fffed172a7fc395d4d8e7eaf8651b67be8c1"
+        },
+        {
+            "source_url": "C:/xufang/USD Room/IKEA/Three/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/resource/img/5c4d20a8e9bda80eecd0a095f926107d.png",
+            "source_hash": "05e42012090745d7c97ac5075fbdbc88c92ac607",
+            "target_url": "./resource/img/5c4d20a8e9bda80eecd0a095f926107d.png",
+            "target_hash": "05e42012090745d7c97ac5075fbdbc88c92ac607"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl b/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl
new file mode 100755
index 0000000000000000000000000000000000000000..d6c08a66ec3d6465474bf1e93968a42c369059a1
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/NVIDIA/Materials/2023_1/Base/Glass/Clear_Glass.mdl
@@ -0,0 +1,43 @@
+mdl 1.3;
+
+import ::OmniGlass::OmniGlass;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = OmniGlass::OmniGlass(
+    absorption_coeff: color(1.f, 1.f, 1.f),
+    glass_color: color(1.f, 1.f, 1.f),
+    use_glass_color_texture: false,
+    glass_color_texture: texture_2d(),
+    frosting_roughness: 0.f,
+    glass_ior: 1.52f,
+    thin_walled: true,
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f));
+	
+/*	
+mdl 1.5;
+
+import ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume(
+    thin_walled: true,
+    transmission_color: color(1.f, 1.f, 1.f),
+    roughness_texture: texture_2d(),
+    ior: 1.52f,
+    transmission_color_texture: texture_2d(),
+    roughness_texture_influence: 0.f,
+    roughness: 0.f,
+    reflection_color_texture: texture_2d(),
+    reflection_color: color(1.f, 1.f, 1.f),
+    depth: 0.0001f,
+    normal_map_texture: texture_2d());
+*/
diff --git a/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/model_TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm.usd b/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/model_TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm.usd
new file mode 100755
index 0000000000000000000000000000000000000000..baf693b187f3dfbbc7875da76ad7b6e8823b7b10
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/model_TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aad7cf1a22d5c02d093fbac736a7194d6afa08cde31bbfa0dc8b3276246acda6
+size 18125
diff --git a/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/resource/img/4ef85973f68cbab6254a8863eff1c8e0.png b/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/resource/img/4ef85973f68cbab6254a8863eff1c8e0.png
new file mode 100755
index 0000000000000000000000000000000000000000..6c13f5f4d9559c079a1a86c08dea06386bd2f8db
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/resource/img/4ef85973f68cbab6254a8863eff1c8e0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 84004
diff --git a/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/resource/img/5c4d20a8e9bda80eecd0a095f926107d.png b/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/resource/img/5c4d20a8e9bda80eecd0a095f926107d.png
new file mode 100755
index 0000000000000000000000000000000000000000..978c22bb8eba06a7d24b31a20f4ac1b945e5470b
--- /dev/null
+++ b/Articulated_objects/Ikea_furniture/TONSTAD_Cabinet_with_sliding_glass_doors_brown_stained_oak_veneer_121x37x120cm/resource/img/5c4d20a8e9bda80eecd0a095f926107d.png
@@ -0,0 +1,3 @@
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+    "60": "/root/E_VITBERGET_shoe_cabinet_storage_white_105x40x107cm_46/E_part2_60",
+    "61": "/root/E_VITBERGET_shoe_cabinet_storage_white_105x40x107cm_46/E_tabletop_61",
+    "62": "/root/E_VITBERGET_shoe_cabinet_storage_white_105x40x107cm_46/E_shelf_62",
+    "63": "/root/E_VITBERGET_shoe_cabinet_storage_white_105x40x107cm_46/E_shelf_63",
+    "64": "/root/E_VITBERGET_shoe_cabinet_storage_white_105x40x107cm_46/E_shelf_64",
+    "65": "/root/E_VITBERGET_shoe_cabinet_storage_white_105x40x107cm_46/E_shelf_65",
+    "66": "/root/E_VITBERGET_shoe_cabinet_storage_white_105x40x107cm_46/E_shelf_66",
+    "67": "/root/E_VITBERGET_shoe_cabinet_storage_white_105x40x107cm_46/E_shelf_67"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Ikea_furniture/VITBERGET_shoe_cabinet_storage_white_105x40x107cm/resource/v_69323/link_0.usd b/Articulated_objects/Ikea_furniture/VITBERGET_shoe_cabinet_storage_white_105x40x107cm/resource/v_69323/link_0.usd
new file mode 100755
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 185358
diff --git a/Articulated_objects/Medical_equipment/anesthesia_machine/.collect.mapping.json b/Articulated_objects/Medical_equipment/anesthesia_machine/.collect.mapping.json
new file mode 100644
index 0000000000000000000000000000000000000000..12d49cb2179c1a247481caf2b21468d769f1e065
--- /dev/null
+++ b/Articulated_objects/Medical_equipment/anesthesia_machine/.collect.mapping.json
@@ -0,0 +1,41 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "https://omniverse-content-production.s3.us-west-2.amazonaws.com/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl",
+            "source_hash": "b852150663322d4624fa32e1f0acd06a8ceacbdf",
+            "target_url": "./omniverse-content-production.s3.us-west-2.amazonaws.com/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl",
+            "target_hash": "cc9eb12272734bfc4ca29152fd27a865a88b2671"
+        },
+        {
+            "source_url": "D:/\u624b\u672f\u5ba4/operating_room/anesthesia_machine/resource/img/0186e847f4f84ad5e7514871692183b2.png",
+            "source_hash": "96a5ca530fa47c943a46ece8973388b3eda4ac6b",
+            "target_url": "./resource/img/0186e847f4f84ad5e7514871692183b2.png",
+            "target_hash": "96a5ca530fa47c943a46ece8973388b3eda4ac6b"
+        },
+        {
+            "source_url": "D:/\u624b\u672f\u5ba4/operating_room/anesthesia_machine/resource/img/18cdcca066072dee175362d0d9cf1937.png",
+            "source_hash": "bf1d35e94a62cc3b1d6e593b8fe9d2b796ce9eeb",
+            "target_url": "./resource/img/18cdcca066072dee175362d0d9cf1937.png",
+            "target_hash": "bf1d35e94a62cc3b1d6e593b8fe9d2b796ce9eeb"
+        },
+        {
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+            "source_hash": "20db6a38202985e1278cb69fbeea7cf17062150f",
+            "target_url": "./resource/img/5f7290bee74825bd9a0a6f96eabcc188.png",
+            "target_hash": "20db6a38202985e1278cb69fbeea7cf17062150f"
+        },
+        {
+            "source_url": "D:/\u624b\u672f\u5ba4/operating_room/anesthesia_machine/resource/img/9e596e9e95f4270254c994e2a78b0dfb.png",
+            "source_hash": "dd4a7d4a161af52430940b14e617d9c13f397d68",
+            "target_url": "./resource/img/9e596e9e95f4270254c994e2a78b0dfb.png",
+            "target_hash": "dd4a7d4a161af52430940b14e617d9c13f397d68"
+        },
+        {
+            "source_url": "D:/\u624b\u672f\u5ba4/operating_room/anesthesia_machine/resource/img/bcb8b32fa2442b07e5d3c4efb4965b4f.png",
+            "source_hash": "43ae97cb81366ab414d4456a017f06a37680d269",
+            "target_url": "./resource/img/bcb8b32fa2442b07e5d3c4efb4965b4f.png",
+            "target_hash": "43ae97cb81366ab414d4456a017f06a37680d269"
+        }
+    ]
+}
\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..cc3c9da3428060ee7943582ee7ba644701342d8a
--- /dev/null
+++ b/Articulated_objects/Medical_equipment/anesthesia_machine/model_anesthesia_machine.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07bac24a39526945e2f934f7ef65759f98805dec2962c68fbe282deba2535b1d
+size 1161292
diff --git a/Articulated_objects/Medical_equipment/anesthesia_machine/omniverse-content-production.s3.us-west-2.amazonaws.com/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl b/Articulated_objects/Medical_equipment/anesthesia_machine/omniverse-content-production.s3.us-west-2.amazonaws.com/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..d6c08a66ec3d6465474bf1e93968a42c369059a1
--- /dev/null
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@@ -0,0 +1,43 @@
+mdl 1.3;
+
+import ::OmniGlass::OmniGlass;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = OmniGlass::OmniGlass(
+    absorption_coeff: color(1.f, 1.f, 1.f),
+    glass_color: color(1.f, 1.f, 1.f),
+    use_glass_color_texture: false,
+    glass_color_texture: texture_2d(),
+    frosting_roughness: 0.f,
+    glass_ior: 1.52f,
+    thin_walled: true,
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f));
+	
+/*	
+mdl 1.5;
+
+import ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume(
+    thin_walled: true,
+    transmission_color: color(1.f, 1.f, 1.f),
+    roughness_texture: texture_2d(),
+    ior: 1.52f,
+    transmission_color_texture: texture_2d(),
+    roughness_texture_influence: 0.f,
+    roughness: 0.f,
+    reflection_color_texture: texture_2d(),
+    reflection_color: color(1.f, 1.f, 1.f),
+    depth: 0.0001f,
+    normal_map_texture: texture_2d());
+*/
diff --git a/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/0186e847f4f84ad5e7514871692183b2.png b/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/0186e847f4f84ad5e7514871692183b2.png
new file mode 100644
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--- /dev/null
+++ b/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/0186e847f4f84ad5e7514871692183b2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 60584
diff --git a/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/18cdcca066072dee175362d0d9cf1937.png b/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/18cdcca066072dee175362d0d9cf1937.png
new file mode 100644
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--- /dev/null
+++ b/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/18cdcca066072dee175362d0d9cf1937.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 27838
diff --git a/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/5f7290bee74825bd9a0a6f96eabcc188.png b/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/5f7290bee74825bd9a0a6f96eabcc188.png
new file mode 100644
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+++ b/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/5f7290bee74825bd9a0a6f96eabcc188.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c450e33fe75b993b29acbc6d35a8385e1321a65f891292bcc8f967a77ab595bc
+size 6390
diff --git a/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/9e596e9e95f4270254c994e2a78b0dfb.png b/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/9e596e9e95f4270254c994e2a78b0dfb.png
new file mode 100644
index 0000000000000000000000000000000000000000..93141b027a5502932e36a15587eec1292f1ca8f5
--- /dev/null
+++ b/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/9e596e9e95f4270254c994e2a78b0dfb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/bcb8b32fa2442b07e5d3c4efb4965b4f.png b/Articulated_objects/Medical_equipment/anesthesia_machine/resource/img/bcb8b32fa2442b07e5d3c4efb4965b4f.png
new file mode 100644
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@@ -0,0 +1,3 @@
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new file mode 100644
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--- /dev/null
+++ b/Articulated_objects/Medical_equipment/anesthesia_machine/resource/material.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4081
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new file mode 100644
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new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/Articulated_objects/Medical_equipment/anesthesia_machine001/resource/img/0924af59d61201d3417e4be10d0cb8b8.png b/Articulated_objects/Medical_equipment/anesthesia_machine001/resource/img/0924af59d61201d3417e4be10d0cb8b8.png
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@@ -0,0 +1,3 @@
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diff --git a/Articulated_objects/Medical_equipment/anesthesia_machine001/resource/img/16d677c5531102d62f3152748300e280.png b/Articulated_objects/Medical_equipment/anesthesia_machine001/resource/img/16d677c5531102d62f3152748300e280.png
new file mode 100644
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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+++ b/Articulated_objects/Medical_equipment/anesthesia_machine001/resource/v_0/element_path.json
@@ -0,0 +1,42 @@
+{
+    "1": "/root/E_knob01_1",
+    "10": "/root/E_body_10",
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+    "4": "/root/E_drawer_4",
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+    "5": "/root/E_drawer_4/E_Group_5",
+    "6": "/root/E_drawer_4/E_handle_6",
+    "7": "/root/E_drawer_7",
+    "8": "/root/E_drawer_7/E_Group_8",
+    "9": "/root/E_drawer_7/E_handle_9"
+}
\ No newline at end of file
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+}
\ No newline at end of file
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+    "8": "/root/E_Component7_1/E_wheel_8",
+    "9": "/root/E_Component7_1/E_part3_9"
+}
\ No newline at end of file
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+}
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+    "64": "/root/E_light_16/E_Obj3d66M2551_64",
+    "65": "/root/E_light_16/E_Obj3d66M50_65",
+    "66": "/root/E_light_16/E_Obj3d66M9085_66",
+    "67": "/root/E_light_16/E_Obj3d66M6730_67",
+    "68": "/root/E_light_16/E_Obj3d66M2147_68",
+    "69": "/root/E_light_16/E_Obj3d66M2905_69",
+    "7": "/root/E_leg0001_6/E_Obj3d66M7943_7",
+    "70": "/root/E_light_16/E_Obj3d66M2755_70",
+    "71": "/root/E_light_16/E_Obj3d66M1879_71",
+    "72": "/root/E_light_16/E_Obj3d66M1570_72",
+    "73": "/root/E_light_16/E_Obj3d66M2182_73",
+    "74": "/root/E_light_16/E_Obj3d66M2347_74",
+    "75": "/root/E_light_16/E_Obj3d66M7465_75",
+    "76": "/root/E_light_16/E_Obj3d66M4060_76",
+    "77": "/root/E_light_16/E_Obj3d66M6549_77",
+    "78": "/root/E_light_16/E_Obj3d66M5535_78",
+    "79": "/root/E_light_16/E_Obj3d66M9316_79",
+    "8": "/root/E_leg0001_6/E_Obj3d66M5543_8",
+    "80": "/root/E_light_16/E_Obj3d66M9260_80",
+    "81": "/root/E_light_16/E_Obj3d66M4999_81",
+    "82": "/root/E_light_16/E_Obj3d66M6621_82",
+    "83": "/root/E_light_16/E_Obj3d66M2557_83",
+    "84": "/root/E_light_16/E_Obj3d66M1356_84",
+    "85": "/root/E_light_16/E_Obj3d66M6212_85",
+    "86": "/root/E_light_16/E_Obj3d66M2483_86",
+    "87": "/root/E_light_16/E_Obj3d66M7995_87",
+    "88": "/root/E_light_16/E_Obj3d66M4699_88",
+    "89": "/root/E_light_16/E_Obj3d66M9039_89",
+    "9": "/root/E_leg0001_6/E_Obj3d66M1236_9",
+    "90": "/root/E_light_16/E_Obj3d66M6516_90",
+    "91": "/root/E_light_16/E_Obj3d66M2288_91",
+    "92": "/root/E_light_16/E_Obj3d66M503_92",
+    "93": "/root/E_leg001_93",
+    "94": "/root/E_leg001_93/E_Obj3d66M6692_94",
+    "95": "/root/E_leg001_93/E_Obj3d66M8403_95",
+    "96": "/root/E_screen_96",
+    "97": "/root/E_screen_96/E_Obj3d66M5287_97",
+    "98": "/root/E_screen_96/E_Obj3d66M8252_98",
+    "99": "/root/E_leg_01_99"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Medical_equipment/surgical_shadowless_lamp/resource/v_0/link_0.usd b/Articulated_objects/Medical_equipment/surgical_shadowless_lamp/resource/v_0/link_0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a2fb543aa81d392da004d19293edff0416e8edb4
--- /dev/null
+++ b/Articulated_objects/Medical_equipment/surgical_shadowless_lamp/resource/v_0/link_0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97881b555993ef7c78ba76110573342981b3e2a59556c6528d2cb4e695380659
+size 115259799
diff --git a/Articulated_objects/Medical_equipment/surgical_shadowless_lamp001/model_surgical_shadowless_lamp001.usd b/Articulated_objects/Medical_equipment/surgical_shadowless_lamp001/model_surgical_shadowless_lamp001.usd
new file mode 100644
index 0000000000000000000000000000000000000000..90ef1653f79d296aef628e3d0f883d9e91900edf
--- /dev/null
+++ b/Articulated_objects/Medical_equipment/surgical_shadowless_lamp001/model_surgical_shadowless_lamp001.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd9ef43cbf7005545ab12772dfe7e6782c6ce14a7e2c20ddb00aa009fb85864
+size 201067
diff --git a/Articulated_objects/Medical_equipment/surgical_shadowless_lamp001/resource/material.usd b/Articulated_objects/Medical_equipment/surgical_shadowless_lamp001/resource/material.usd
new file mode 100644
index 0000000000000000000000000000000000000000..30d29e4fae93cae9a3cf69d737530237ef66ea24
--- /dev/null
+++ b/Articulated_objects/Medical_equipment/surgical_shadowless_lamp001/resource/material.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87ba6b3d1a233aa0431670c3fedc6579473a557962915343bccb8380c30e7ed7
+size 1514
diff --git a/Articulated_objects/Medical_equipment/surgical_shadowless_lamp001/resource/v_0/element_path.json b/Articulated_objects/Medical_equipment/surgical_shadowless_lamp001/resource/v_0/element_path.json
new file mode 100644
index 0000000000000000000000000000000000000000..79b88cedd13fe9b9a023c58d3dbf8ede24158db1
--- /dev/null
+++ b/Articulated_objects/Medical_equipment/surgical_shadowless_lamp001/resource/v_0/element_path.json
@@ -0,0 +1,118 @@
+{
+    "1": "/root/E_leg04_1",
+    "8": "/root/E_leg03_8",
+    "10": "/root/E_leg03_8/E_Component362_10",
+    "100": "/root/E_leg04_2_100",
+    "101": "/root/E_leg04_2_100/E_Component402_101",
+    "102": "/root/E_leg04_2_100/E_Component403_102",
+    "103": "/root/E_leg04_2_100/E_Component368_103",
+    "104": "/root/E_leg04_2_100/E_Component405_104",
+    "105": "/root/E_leg04_1_105",
+    "106": "/root/E_leg04_1_105/E_Component404_106",
+    "107": "/root/E_leg04_1_105/E_Component367_107",
+    "108": "/root/E_leg04_1_105/E_Component367_108",
+    "109": "/root/E_leg04_3_109",
+    "11": "/root/E_leg03_8/E_Component367_11",
+    "110": "/root/E_leg04_3_109/E_Component408_110",
+    "111": "/root/E_leg04_3_109/E_Component409_111",
+    "112": "/root/E_leg04_3_109/E_Component410_112",
+    "113": "/root/E_leg04_3_109/E_Component411_113",
+    "114": "/root/E_leg04_3_109/E_Component365_114",
+    "115": "/root/E_leg04_3_109/E_Component407_115",
+    "116": "/root/E_leg04_3_109/E_Component365_116",
+    "12": "/root/E_leg03_8/E_Component366_12",
+    "13": "/root/E_leg03_8/E_Component367_13",
+    "14": "/root/E_leg03_8/E_Component380_14",
+    "15": "/root/E_leg03_8/E_Component383_15",
+    "16": "/root/E_leg01_16",
+    "17": "/root/E_leg01_16/E_Group_17",
+    "18": "/root/E_leg01_16/E_Component362_18",
+    "19": "/root/E_leg01_16/E_Component367_19",
+    "2": "/root/E_leg04_1/E_Group_2",
+    "20": "/root/E_leg01_16/E_Component367_20",
+    "21": "/root/E_leg01_16/E_Component366_21",
+    "22": "/root/E_leg01_16/E_Component392_22",
+    "23": "/root/E_leg02_23",
+    "24": "/root/E_leg02_23/E_Group_24",
+    "25": "/root/E_leg02_23/E_Component398_25",
+    "26": "/root/E_leg02_23/E_Component366_26",
+    "27": "/root/E_leg02_23/E_Component367_27",
+    "28": "/root/E_leg02_23/E_Component367_28",
+    "29": "/root/E_leg02_23/E_Component362_29",
+    "3": "/root/E_leg04_1/E_Component400_3",
+    "30": "/root/E_body_30",
+    "31": "/root/E_leg01_1_31",
+    "32": "/root/E_leg01_1_31/E_Component367_32",
+    "33": "/root/E_leg01_1_31/E_Component367_33",
+    "34": "/root/E_leg01_1_31/E_Component370_34",
+    "35": "/root/E_leg01_1_31/E_Component368_35",
+    "36": "/root/E_leg01_1_31/E_Component365_36",
+    "37": "/root/E_leg01_1_31/E_Component385_37",
+    "38": "/root/E_leg01_2_38",
+    "39": "/root/E_leg01_2_38/E_Component386_39",
+    "4": "/root/E_leg04_1/E_Component367_4",
+    "40": "/root/E_leg01_2_38/E_Component372_40",
+    "41": "/root/E_leg01_2_38/E_Component387_41",
+    "42": "/root/E_leg01_2_38/E_Component393_42",
+    "43": "/root/E_leg01_3_43",
+    "44": "/root/E_leg01_3_43/E_Component371_44",
+    "45": "/root/E_leg01_3_43/E_Component369_45",
+    "46": "/root/E_leg01_3_43/E_Component388_46",
+    "47": "/root/E_leg01_3_43/E_Component391_47",
+    "48": "/root/E_leg01_4_48",
+    "49": "/root/E_leg01_4_48/E_Component374_49",
+    "5": "/root/E_leg04_1/E_Component366_5",
+    "50": "/root/E_leg01_4_48/E_Component390_50",
+    "51": "/root/E_leg01_4_48/E_Component373_51",
+    "52": "/root/E_leg01_4_48/E_Component389_52",
+    "53": "/root/E_leg01_4_48/E_Component377_53",
+    "54": "/root/E_leg02_4_54",
+    "55": "/root/E_leg02_4_54/E_Component374_55",
+    "56": "/root/E_leg02_4_54/E_Component364_56",
+    "57": "/root/E_leg02_4_54/E_Component378_57",
+    "58": "/root/E_leg02_4_54/E_Component377_58",
+    "59": "/root/E_leg02_4_54/E_Component373_59",
+    "6": "/root/E_leg04_1/E_Component367_6",
+    "60": "/root/E_leg02_1_60",
+    "61": "/root/E_leg02_1_60/E_Component367_61",
+    "62": "/root/E_leg02_1_60/E_Component370_62",
+    "63": "/root/E_leg02_1_60/E_Component365_63",
+    "64": "/root/E_leg02_1_60/E_Component366_64",
+    "65": "/root/E_leg02_1_60/E_Component367_65",
+    "66": "/root/E_leg02_1_60/E_Component368_66",
+    "67": "/root/E_leg02_3_67",
+    "68": "/root/E_leg02_3_67/E_Component371_68",
+    "69": "/root/E_leg02_3_67/E_Component372_69",
+    "7": "/root/E_leg04_1/E_Component406_7",
+    "70": "/root/E_leg02_3_67/E_Component396_70",
+    "71": "/root/E_leg02_3_67/E_Component382_71",
+    "72": "/root/E_leg02_2_72",
+    "73": "/root/E_leg02_2_72/E_Component399_73",
+    "74": "/root/E_leg02_2_72/E_Component369_74",
+    "75": "/root/E_leg02_2_72/E_Component395_75",
+    "76": "/root/E_leg02_2_72/E_Component365_76",
+    "77": "/root/E_leg02_2_72/E_Component397_77",
+    "78": "/root/E_leg03_4_78",
+    "79": "/root/E_leg03_4_78/E_Component364_79",
+    "80": "/root/E_leg03_4_78/E_Component378_80",
+    "81": "/root/E_leg03_4_78/E_Component373_81",
+    "82": "/root/E_leg03_4_78/E_Component376_82",
+    "83": "/root/E_leg03_4_78/E_Component374_83",
+    "84": "/root/E_leg03_4_78/E_Component377_84",
+    "85": "/root/E_leg03_3_85",
+    "86": "/root/E_leg03_3_85/E_Component371_86",
+    "87": "/root/E_leg03_3_85/E_Component372_87",
+    "88": "/root/E_leg03_2_88",
+    "89": "/root/E_leg03_2_88/E_Component379_89",
+    "9": "/root/E_leg03_8/E_Group_9",
+    "90": "/root/E_leg03_2_88/E_Component381_90",
+    "91": "/root/E_leg03_2_88/E_Component369_91",
+    "92": "/root/E_leg03_2_88/E_Component375_92",
+    "93": "/root/E_leg03_1_93",
+    "94": "/root/E_leg03_1_93/E_Component367_94",
+    "95": "/root/E_leg03_1_93/E_Component367_95",
+    "96": "/root/E_leg03_1_93/E_Component366_96",
+    "97": "/root/E_leg03_1_93/E_Component365_97",
+    "98": "/root/E_leg03_1_93/E_Component368_98",
+    "99": "/root/E_leg03_1_93/E_Component370_99"
+}
\ No newline at end of file
diff --git a/Articulated_objects/Medical_equipment/surgical_shadowless_lamp001/resource/v_0/link_0.usd b/Articulated_objects/Medical_equipment/surgical_shadowless_lamp001/resource/v_0/link_0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..a8eab453f2c1208079647049d66937d5823db2de
--- /dev/null
+++ b/Articulated_objects/Medical_equipment/surgical_shadowless_lamp001/resource/v_0/link_0.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8f704b6011fda31ead03851f7e254482461c3d9d80ee55b22895dbc4119d6eb
+size 6484626
diff --git a/Articulated_objects/household_items/trash_can/steping_dustbin_20/model_steping_dustbin_20.usd b/Articulated_objects/household_items/trash_can/steping_dustbin_20/model_steping_dustbin_20.usd
index 5e1edd3c72df33e50325c7173060ca8089f1bb96..70254d8e3b3e61eb5749c88ee03df4086de03f91 100644
--- a/Articulated_objects/household_items/trash_can/steping_dustbin_20/model_steping_dustbin_20.usd
+++ b/Articulated_objects/household_items/trash_can/steping_dustbin_20/model_steping_dustbin_20.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6e9ccc94008a41d14c2de3a3c42d68cc3153b7633265a7ef0bb8164e60e0f21e
-size 3155140
+oid sha256:f54270bb2d663f6fb485e801941388f2f9e26fd834d0814b2ccac68e0cfeef62
+size 3160368
diff --git a/Articulated_objects/household_items/trash_can/steping_dustbin_20/resource/trashcan_control.py b/Articulated_objects/household_items/trash_can/steping_dustbin_20/resource/trashcan_control.py
index 0a0f94cff1c153da0516d73d59662bb3b5e43c83..fc351464ffc81102b20b5f240ce01e1a0c4c9a1f 100644
--- a/Articulated_objects/household_items/trash_can/steping_dustbin_20/resource/trashcan_control.py
+++ b/Articulated_objects/household_items/trash_can/steping_dustbin_20/resource/trashcan_control.py
@@ -1,18 +1,12 @@
 import carb
+import math
+import torch
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from omni.isaac.core import SimulationContext
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-from omni.isaac.core import SimulationContext, World
-# from isaacsim.core.prims import XFormPrim
-# stiffness :0.8 Damping: 0.05
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
@@ -34,62 +28,42 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-# # 1. prim init
-# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
-# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
-# # 2. articulation Root prim
-# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
-# # 3. joint name 
-# joint_names = ["PrismaticJoint", "RevoluteJoint"]
-# # 4. joint num
-# num_arm_dof = 2
-
-# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
-#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
-#             ]
-# for i in range(0, light_scopes.__len__()):
-#     light_scopes[i].set_visibility(False)
-# index = random.randint(0, len(light_scopes)-1)
-# light_scopes[index].set_visibility(True)
 button_prim = XFormPrim(find_prim_path_by_name("E_pedal_17"))
 print("button_prim", button_prim.prim_path)
-# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
-# print("door_prim", door_prim.prim_path)
+
 root_articulation_prim = find_prim_path_by_name("E_body_13")
 print("root_articulation_prim", root_articulation_prim)
-joint_names = ["RevoluteJoint_steping_dustbin_20_down", "RevoluteJoint_steping_dustbin_20_up1","RevoluteJoint_steping_dustbin_20_up"]
-# light_scopes=[XFormPrim(find_prim_path_by_name("oven_light"))
-            # ]
-revolutejoint_path = find_prim_path_by_name("RevoluteJoint_steping_dustbin_20_down")
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_13"]
+JOINT_NAMES = [
+    "RevoluteJoint_steping_dustbin_20_down",
+    "RevoluteJoint_steping_dustbin_20_up1",
+    "RevoluteJoint_steping_dustbin_20_up",
+]
 
 
-class MicrowaveOverControl(BehaviorScript):
+class TrashcanControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # light_scopes[0].set_visibility(False) 
-        self.Stiffness_max = 0.8
-        self.Stiffness_min = 0.08
-        
-        # 初始化门的锁定状态
-        self.door_locked = True
-        
-        # init_pose
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.use_torch = None
+        self.joint_limits = None
+
         self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        stage = omni.usd.get_context().get_stage()
-        self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
-        self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
-   
-   
-    def on_destroy(self):
-        pass
 
     def on_play(self):
         self.simulation_context = SimulationContext(
@@ -98,51 +72,66 @@ class MicrowaveOverControl(BehaviorScript):
             rendering_dt=1.0/120
         )
 
-
-    def on_pause(self):
-        pass
-
     def on_stop(self):
-        self.init_start=True
-
-        self.door_locked = True
         carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.dc = _dynamic_control.acquire_dynamic_control_interface()
-        self.active_art() 
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-        # print("self.joint_handles",self.joint_handles)
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
-        self.trashcan_control()
-    def trashcan_control(self):
-
-        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        self.Joint2_state = self.dc.get_dof_state(self.joint_handles[2], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint0_state", self.Joint0_state)
-        # print("self.Joint1_state", self.Joint1_state)
-        # 按钮被按下且门处于锁定状态
-        if self.Joint0_state > math.radians(20):
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(40))
-            self.dc.set_dof_position_target(self.joint_handles[2], math.radians(-90))
+        if not self.initialized or self.art is None:
+            return
+        self.target_pose_control()
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        button_idx = self.joint_indices[0]
+        button_state = self._get_scalar_value(positions[button_idx])
+
+        control_indices = self.joint_indices[1:]
+        if button_state > math.radians(20):
+            targets = [math.radians(40), math.radians(-90)]
         else:
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(0))
-            self.dc.set_dof_position_target(self.joint_handles[2], math.radians(0))
+            targets = [0.0, 0.0]
 
-                
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(control_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=control_indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+            return
diff --git a/Articulated_objects/household_items/trash_can/stepping_dustbin_16/resource/trashcan_control.py b/Articulated_objects/household_items/trash_can/stepping_dustbin_16/resource/trashcan_control.py
index c6795526d918d35929badbd57bf2d521d59cb546..c330ea1657d0341a0e6415d9172fe201fe26f00a 100644
--- a/Articulated_objects/household_items/trash_can/stepping_dustbin_16/resource/trashcan_control.py
+++ b/Articulated_objects/household_items/trash_can/stepping_dustbin_16/resource/trashcan_control.py
@@ -1,18 +1,12 @@
 import carb
+import math
+import torch
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from omni.isaac.core import SimulationContext
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-from omni.isaac.core import SimulationContext, World
-# from isaacsim.core.prims import XFormPrim
-# stiffness :0.8 Damping: 0.05
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
@@ -34,62 +28,40 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-# # 1. prim init
-# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
-# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
-# # 2. articulation Root prim
-# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
-# # 3. joint name 
-# joint_names = ["PrismaticJoint", "RevoluteJoint"]
-# # 4. joint num
-# num_arm_dof = 2
-
-# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
-#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
-#             ]
-# for i in range(0, light_scopes.__len__()):
-#     light_scopes[i].set_visibility(False)
-# index = random.randint(0, len(light_scopes)-1)
-# light_scopes[index].set_visibility(True)
 button_prim = XFormPrim(find_prim_path_by_name("E_pedal_1"))
 print("button_prim", button_prim.prim_path)
-# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
-# print("door_prim", door_prim.prim_path)
 root_articulation_prim = find_prim_path_by_name("E_body_3")
 print("root_articulation_prim", root_articulation_prim)
-joint_names = ["RevoluteJoint_Stepping_dustbin_16_down", "RevoluteJoint_Stepping_dustbin_16_up"]
-# light_scopes=[XFormPrim(find_prim_path_by_name("oven_light"))
-            # ]
-revolutejoint_path = find_prim_path_by_name("RevoluteJoint_Stepping_dustbin_16_down")
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_3"]
+JOINT_NAMES = [
+    "RevoluteJoint_Stepping_dustbin_16_down",
+    "RevoluteJoint_Stepping_dustbin_16_up",
+]
 
 
 class MicrowaveOverControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # light_scopes[0].set_visibility(False) 
-        self.Stiffness_max = 0.8
-        self.Stiffness_min = 0.08
-        
-        # 初始化门的锁定状态
-        self.door_locked = True
-        
-        # init_pose
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.use_torch = None
+        self.joint_limits = None
+
         self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        stage = omni.usd.get_context().get_stage()
-        self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
-        self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
-   
-   
-    def on_destroy(self):
-        pass
 
     def on_play(self):
         self.simulation_context = SimulationContext(
@@ -99,48 +71,64 @@ class MicrowaveOverControl(BehaviorScript):
         )
 
 
-    def on_pause(self):
-        pass
-
     def on_stop(self):
-        self.init_start=True
-
-        self.door_locked = True
         carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.dc = _dynamic_control.acquire_dynamic_control_interface()
-        self.active_art() 
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-        # print("self.joint_handles",self.joint_handles)
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
-        self.trashcan_control()
-    def trashcan_control(self):
-
-        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint0_state", self.Joint0_state)
-        # print("self.Joint1_state", self.Joint1_state)
-        # 按钮被按下且门处于锁定状态
-        if self.Joint0_state > math.radians(20):
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-90))
+        if not self.initialized or self.art is None:
+            return
+        self.target_pose_control()
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        pedal_idx = self.joint_indices[0]
+        pedal_state = self._get_scalar_value(positions[pedal_idx])
+
+        lid_idx = [self.joint_indices[1]]
+        targets = [math.radians(-90) if pedal_state > math.radians(20) else 0.0]
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(lid_idx, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
         else:
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(0))
+            action = ArticulationActions(targets, joint_indices=lid_idx)
 
+        self.art.apply_action(action)
 
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+            return
                 
diff --git a/Articulated_objects/household_items/trash_can/stepping_dustbin_4/resource/trashcan_control.py b/Articulated_objects/household_items/trash_can/stepping_dustbin_4/resource/trashcan_control.py
index 92a6edafbd26c3a28c27887cb903064c1e746247..7b00be0a5e75025680bc9823c5eda9634fedd7a5 100644
--- a/Articulated_objects/household_items/trash_can/stepping_dustbin_4/resource/trashcan_control.py
+++ b/Articulated_objects/household_items/trash_can/stepping_dustbin_4/resource/trashcan_control.py
@@ -1,18 +1,12 @@
 import carb
+import math
+import torch
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from omni.isaac.core import SimulationContext
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-from omni.isaac.core import SimulationContext, World
-# from isaacsim.core.prims import XFormPrim
-# stiffness :0.8 Damping: 0.05
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
@@ -34,62 +28,40 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-# # 1. prim init
-# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
-# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
-# # 2. articulation Root prim
-# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
-# # 3. joint name 
-# joint_names = ["PrismaticJoint", "RevoluteJoint"]
-# # 4. joint num
-# num_arm_dof = 2
-
-# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
-#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
-#             ]
-# for i in range(0, light_scopes.__len__()):
-#     light_scopes[i].set_visibility(False)
-# index = random.randint(0, len(light_scopes)-1)
-# light_scopes[index].set_visibility(True)
 button_prim = XFormPrim(find_prim_path_by_name("E_pedal_5"))
 print("button_prim", button_prim.prim_path)
-# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
-# print("door_prim", door_prim.prim_path)
 root_articulation_prim = find_prim_path_by_name("E_body_2")
 print("root_articulation_prim", root_articulation_prim)
-joint_names = ["RevoluteJoint_stepping_dustbin_4_down", "RevoluteJoint_stepping_dustbin_4_up"]
-# light_scopes=[XFormPrim(find_prim_path_by_name("oven_light"))
-            # ]
-revolutejoint_path = find_prim_path_by_name("RevoluteJoint_stepping_dustbin_4_down")
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_2"]
+JOINT_NAMES = [
+    "RevoluteJoint_stepping_dustbin_4_down",
+    "RevoluteJoint_stepping_dustbin_4_up",
+]
 
 
-class MicrowaveOverControl(BehaviorScript):
+class TrashcanControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # light_scopes[0].set_visibility(False) 
-        self.Stiffness_max = 0.8
-        self.Stiffness_min = 0.08
-        
-        # 初始化门的锁定状态
-        self.door_locked = True
-        
-        # init_pose
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.use_torch = None
+        self.joint_limits = None
+
         self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        stage = omni.usd.get_context().get_stage()
-        self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
-        self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
-   
-   
-    def on_destroy(self):
-        pass
 
     def on_play(self):
         self.simulation_context = SimulationContext(
@@ -98,49 +70,64 @@ class MicrowaveOverControl(BehaviorScript):
             rendering_dt=1.0/120
         )
 
-
-    def on_pause(self):
-        pass
-
     def on_stop(self):
-        self.init_start=True
-
-        self.door_locked = True
         carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.dc = _dynamic_control.acquire_dynamic_control_interface()
-        self.active_art() 
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-        # print("self.joint_handles",self.joint_handles)
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
-        self.trashcan_control()
-    def trashcan_control(self):
-
-        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint0_state", self.Joint0_state)
-        # print("self.Joint1_state", self.Joint1_state)
-        # 按钮被按下且门处于锁定状态
-        if self.Joint0_state > math.radians(20):
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-45))
+        if not self.initialized or self.art is None:
+            return
+        self.target_pose_control()
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        pedal_idx = self.joint_indices[0]
+        pedal_state = self._get_scalar_value(positions[pedal_idx])
+
+        lid_idx = [self.joint_indices[1]]
+        targets = [math.radians(-45) if pedal_state > math.radians(20) else 0.0]
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(lid_idx, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
         else:
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(0))
+            action = ArticulationActions(targets, joint_indices=lid_idx)
 
+        self.art.apply_action(action)
 
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+            return
                 
diff --git a/Articulated_objects/household_items/trash_can/stepping_dustbin_6/resource/trashcan_control.py b/Articulated_objects/household_items/trash_can/stepping_dustbin_6/resource/trashcan_control.py
index dbb896bb5a14ebe54edc7f77ca5cb479cbe7865b..728a7477aa60e0d5c111a3600874ae9590a4006b 100644
--- a/Articulated_objects/household_items/trash_can/stepping_dustbin_6/resource/trashcan_control.py
+++ b/Articulated_objects/household_items/trash_can/stepping_dustbin_6/resource/trashcan_control.py
@@ -1,18 +1,12 @@
 import carb
+import math
+import torch
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from omni.isaac.core import SimulationContext
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-from omni.isaac.core import SimulationContext, World
-# from isaacsim.core.prims import XFormPrim
-# stiffness :0.8 Damping: 0.05
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
@@ -34,62 +28,40 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-# # 1. prim init
-# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
-# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
-# # 2. articulation Root prim
-# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
-# # 3. joint name 
-# joint_names = ["PrismaticJoint", "RevoluteJoint"]
-# # 4. joint num
-# num_arm_dof = 2
-
-# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
-#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
-#             ]
-# for i in range(0, light_scopes.__len__()):
-#     light_scopes[i].set_visibility(False)
-# index = random.randint(0, len(light_scopes)-1)
-# light_scopes[index].set_visibility(True)
 button_prim = XFormPrim(find_prim_path_by_name("E_pedal_1"))
 print("button_prim", button_prim.prim_path)
-# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
-# print("door_prim", door_prim.prim_path)
 root_articulation_prim = find_prim_path_by_name("E_body_2")
 print("root_articulation_prim", root_articulation_prim)
-joint_names = ["PrismaticJoint_Stepping_dustbin_6_down", "RevoluteJoint_Stepping_dustbin_6_up"]
-# light_scopes=[XFormPrim(find_prim_path_by_name("oven_light"))
-            # ]
-PrismaticJoint_path = find_prim_path_by_name("PrismaticJoint_Stepping_dustbin_6_down")
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_2"]
+JOINT_NAMES = [
+    "PrismaticJoint_Stepping_dustbin_6_down",
+    "RevoluteJoint_Stepping_dustbin_6_up",
+]
 
 
-class MicrowaveOverControl(BehaviorScript):
+class TrashcanControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # light_scopes[0].set_visibility(False) 
-        self.Stiffness_max = 0.8
-        self.Stiffness_min = 0.08
-        
-        # 初始化门的锁定状态
-        self.door_locked = True
-        
-        # init_pose
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.use_torch = None
+        self.joint_limits = None
+
         self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        stage = omni.usd.get_context().get_stage()
-        self.revoluteJoint_drive_path = stage.GetPrimAtPath(PrismaticJoint_path)
-        self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "linear")
-   
-   
-    def on_destroy(self):
-        pass
 
     def on_play(self):
         self.simulation_context = SimulationContext(
@@ -98,49 +70,64 @@ class MicrowaveOverControl(BehaviorScript):
             rendering_dt=1.0/120
         )
 
-
-    def on_pause(self):
-        pass
-
     def on_stop(self):
-        self.init_start=True
-
-        self.door_locked = True
         carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.dc = _dynamic_control.acquire_dynamic_control_interface()
-        self.active_art() 
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-        # print("self.joint_handles",self.joint_handles)
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
-        self.trashcan_control()
-    def trashcan_control(self):
-
-        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint0_state", self.Joint0_state)
-        # print("self.Joint1_state", self.Joint1_state)
-        # 按钮被按下且门处于锁定状态
-        if self.Joint0_state < -0.01 :
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-45))
+        if not self.initialized or self.art is None:
+            return
+        self.target_pose_control()
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        slider_idx = self.joint_indices[0]
+        slider_state = self._get_scalar_value(positions[slider_idx])
+
+        lid_idx = [self.joint_indices[1]]
+        targets = [math.radians(-45) if slider_state < -0.01 else 0.0]
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(lid_idx, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
         else:
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(0))
+            action = ArticulationActions(targets, joint_indices=lid_idx)
 
+        self.art.apply_action(action)
 
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+            return
                 
diff --git a/Articulated_objects/household_items/trash_can/stepping_dustbin_9/resource/trashcan_control.py b/Articulated_objects/household_items/trash_can/stepping_dustbin_9/resource/trashcan_control.py
index 5da7c2d66641bd92dfeb8c158733473399f4a2fb..102e8155fd9c1b8b9feda081db0f7cce76b2b4ab 100644
--- a/Articulated_objects/household_items/trash_can/stepping_dustbin_9/resource/trashcan_control.py
+++ b/Articulated_objects/household_items/trash_can/stepping_dustbin_9/resource/trashcan_control.py
@@ -1,18 +1,12 @@
 import carb
+import math
+import torch
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from omni.isaac.core import SimulationContext
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-from omni.isaac.core import SimulationContext, World
-# from isaacsim.core.prims import XFormPrim
-# stiffness :0.8 Damping: 0.05
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
@@ -34,62 +28,41 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-# # 1. prim init
-# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
-# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
-# # 2. articulation Root prim
-# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
-# # 3. joint name 
-# joint_names = ["PrismaticJoint", "RevoluteJoint"]
-# # 4. joint num
-# num_arm_dof = 2
-
-# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
-#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
-#             ]
-# for i in range(0, light_scopes.__len__()):
-#     light_scopes[i].set_visibility(False)
-# index = random.randint(0, len(light_scopes)-1)
-# light_scopes[index].set_visibility(True)
 button_prim = XFormPrim(find_prim_path_by_name("E_pedal_2"))
 print("button_prim", button_prim.prim_path)
-# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
-# print("door_prim", door_prim.prim_path)
 root_articulation_prim = find_prim_path_by_name("E_body_4")
 print("root_articulation_prim", root_articulation_prim)
-joint_names = ["RevoluteJoint_Stepping_dustbin_9_down", "RevoluteJoint_Stepping_dustbin_9_up_2","RevoluteJoint_Stepping_dustbin_9_up_1"]
-# light_scopes=[XFormPrim(find_prim_path_by_name("oven_light"))
-            # ]
-revolutejoint_path = find_prim_path_by_name("RevoluteJoint_Stepping_dustbin_9_down")
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_4"]
+JOINT_NAMES = [
+    "RevoluteJoint_Stepping_dustbin_9_down",
+    "RevoluteJoint_Stepping_dustbin_9_up_2",
+    "RevoluteJoint_Stepping_dustbin_9_up_1",
+]
 
 
 class TrashcanControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # light_scopes[0].set_visibility(False) 
-        self.Stiffness_max = 0.8
-        self.Stiffness_min = 0.08
-        
-        # 初始化门的锁定状态
-        self.door_locked = True
-        
-        # init_pose
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.use_torch = None
+        self.joint_limits = None
+
         self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        stage = omni.usd.get_context().get_stage()
-        self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
-        self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
-   
-   
-    def on_destroy(self):
-        pass
 
     def on_play(self):
         self.simulation_context = SimulationContext(
@@ -97,52 +70,66 @@ class TrashcanControl(BehaviorScript):
             physics_dt=1.0/120,
             rendering_dt=1.0/120
         )
-
-
-    def on_pause(self):
-        pass
-
     def on_stop(self):
-        self.init_start=True
-
-        self.door_locked = True
         carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.dc = _dynamic_control.acquire_dynamic_control_interface()
-        self.active_art() 
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-        # print("self.joint_handles",self.joint_handles)
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
-        self.trashcan_control()
-    def trashcan_control(self):
-
-        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        self.Joint2_state = self.dc.get_dof_state(self.joint_handles[2], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint0_state", self.Joint0_state)
-        # print("self.Joint1_state", self.Joint1_state)
-        # 按钮被按下且门处于锁定状态
-        if self.Joint0_state > math.radians(10):
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(90.0))
-            self.dc.set_dof_position_target(self.joint_handles[2], math.radians(-180.0))
+        if not self.initialized or self.art is None:
+            return
+        self.target_pose_control()
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        pedal_idx = self.joint_indices[0]
+        pedal_state = self._get_scalar_value(positions[pedal_idx])
+
+        control_indices = self.joint_indices[1:]
+        if pedal_state > math.radians(10):
+            targets = [math.radians(90.0), math.radians(-180.0)]
         else:
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(0))
-            self.dc.set_dof_position_target(self.joint_handles[2], math.radians(0))
+            targets = [0.0, 0.0]
 
-                
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(control_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=control_indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+            return
diff --git a/Articulated_objects/large_furniture/cupboard/cupboard_1/resource/cupboard_control.py b/Articulated_objects/large_furniture/cupboard/cupboard_1/resource/cupboard_control.py
index 4499baa869e288e6e78ab0483267d24746dc1522..2c4f1d24d83bf0a8a714092705c725b74e182fdd 100644
--- a/Articulated_objects/large_furniture/cupboard/cupboard_1/resource/cupboard_control.py
+++ b/Articulated_objects/large_furniture/cupboard/cupboard_1/resource/cupboard_control.py
@@ -1,26 +1,16 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
 import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
+import torch
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+import omni.usd
 from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
 
-
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
     def _find_prim(prim):
         if prim.GetName() == prim_name:
             return prim.GetPath().pathString
@@ -29,213 +19,195 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
             if result:
                 return result
         return None
-    
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
 
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_4")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_cupboard_1_up1","RevoluteJoint_cupboard_1_up2","RevoluteJoint_cupboard_1_up7","RevoluteJoint_cupboard_1_up3","RevoluteJoint_cupboard_1_up4","RevoluteJoint_cupboard_1_up5","RevoluteJoint_cupboard_1_down1","RevoluteJoint_cupboard_1_down4","RevoluteJoint_cupboard_1_down5","RevoluteJoint_cupboard_1_up6","RevoluteJoint_cupboard_1_up6","RevoluteJoint_cupboard_1_down2","RevoluteJoint_cupboard_1_down3","RevoluteJoint_cupboard_1_down7"]
-joint_threshold = 0.3
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_4"]
 
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-# light_scopes=[
-#     XFormPrim(find_prim_path_by_name("fridge_light"))
-# ]
+JOINT_NAMES = ["RevoluteJoint_cupboard_1_up1",
+               "RevoluteJoint_cupboard_1_up2",
+               "RevoluteJoint_cupboard_1_up7",
+               "RevoluteJoint_cupboard_1_up3",
+               "RevoluteJoint_cupboard_1_up4",
+               "RevoluteJoint_cupboard_1_up5",
+               "RevoluteJoint_cupboard_1_down1",
+               "RevoluteJoint_cupboard_1_down4",
+               "RevoluteJoint_cupboard_1_down5",
+               "RevoluteJoint_cupboard_1_up6",
+               "RevoluteJoint_cupboard_1_up6",
+               "RevoluteJoint_cupboard_1_down2",
+               "RevoluteJoint_cupboard_1_down3",
+               "RevoluteJoint_cupboard_1_down7"]
+JOINT_THRESHOLD = 0.3
 
 class CupboardControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
+        # 尝试找到articulation根路径
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
         
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+        # 保留原始的 joints_info 用于 calculate_stiffness
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                'prim': joint,
+                'lower_limit': joint.GetLowerLimitAttr().Get(),
+                'upper_limit': joint.GetUpperLimitAttr().Get()
+            }
 
     def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        # for light in light_scopes:
-        #     light.set_visibility(False)
-        # light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
+        self._initialize_articulation()
 
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
+    def on_update(self, current_time, delta_time):
+        if delta_time <= 0: return
+        # 延迟初始化，确保physics准备好
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return  # 如果还没初始化成功，跳过本次更新
         
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        self.apply_behavior()
+
     def apply_behavior(self):
-        # self.light_control()
+        if not self.initialized or self.art is None:
+            return
         self.damping_stiffness_change()
         self.target_pose_control()
-        
-        
-    def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
-        doors_open = [
-            self.left_joint_state < math.radians(-30),
-            self.right_joint_state > math.radians(30)
-        ]
 
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
-        if any(doors_open):
-            if not current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(True)
+    def _get_scalar_value(self, value):
+        """将值转换为标量（支持torch tensor和普通数值）"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif hasattr(value, 'item'):
+            return value.item()
         else:
-            if current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
+            return float(value)
     
-    def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
+    def calculate_stiffness(self, joint_state, joint_idx):
+        """Calculate stiffness value based on joint angle (自动适配torch tensor或普通数值)"""
+        max_stiffness = 20
+        min_stiffness = 2
+        decay_rate = 3
+        
+        # 转换为标量值进行比较
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        joint_name = self.joint_names[joint_idx]
+        threshold_value = self.joint_threshold * (self.joints_info[joint_name]['upper_limit'] + self.joints_info[joint_name]['lower_limit'])
         
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 20 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 2   # 最小刚度
-        decay_rate = 3   # 衰减率
         # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
+        if abs(joint_state_scalar) >= abs(math.radians(threshold_value)):
             return min_stiffness
         
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
-        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
+        # 根据平台选择计算方式
+        if self.use_torch:
+            # Isaac Lab: 使用torch tensor计算
+            device = joint_state.device if isinstance(joint_state, torch.Tensor) else torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=device))
+            stiffness = max(min_stiffness, min(stiffness.item(), max_stiffness))
+        else:
+            # Isaac Sim: 使用math计算
+            stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+            stiffness = max(min_stiffness, min(stiffness, max_stiffness))
         
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
+        return stiffness
+
+    def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
+            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
+            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
+            joint_state = positions[idx]
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
     def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = positions[idx]
+            joint_state_scalar = self._get_scalar_value(joint_state)
+            joint_name = self.joint_names[i]
+            lower_limit = self.joints_info[joint_name]['lower_limit']
+            upper_limit = self.joints_info[joint_name]['upper_limit']
+            threshold_value = self.joint_threshold * (upper_limit + lower_limit)
             
-            # print("joint_state", joint_state)
-            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
+            # 保留原有的复杂判断逻辑
+            if abs(lower_limit) <= math.radians(abs(upper_limit)):
+                if joint_state_scalar > math.radians(threshold_value):
+                    targets.append(math.radians(upper_limit))
                 else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+                    targets.append(math.radians(lower_limit))
             else:
-                if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+                if joint_state_scalar < math.radians(threshold_value):
+                    targets.append(math.radians(lower_limit))
                 else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))
+                    targets.append(math.radians(upper_limit))
+            indices.append(idx)
+        
+        # 根据平台选择不同的action创建方式
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+        
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        """延迟初始化，在physics准备好后调用"""
+        if self.initialized:
+            return
+        
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            print("self.art :", self.art)
+            self.art.initialize()
+            
+            # 检测返回类型：torch tensor 还是 numpy/普通数值
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+            
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [{
+                "lower": dof_limits[idx, 0],
+                "upper": dof_limits[idx, 1]
+            } for idx in self.joint_indices]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            # Physics还没准备好，下次再试
+            print(f"Physics not ready yet, will retry: {e}")
+            return
diff --git a/Articulated_objects/large_furniture/cupboard/cupboard_2/resource/cupboard_control.py b/Articulated_objects/large_furniture/cupboard/cupboard_2/resource/cupboard_control.py
index b49875718614dea78d1f9c5922cd2faf8931f283..3fce7e5edabdf0bcc56b4333ddbe224f7e7c9b2e 100644
--- a/Articulated_objects/large_furniture/cupboard/cupboard_2/resource/cupboard_control.py
+++ b/Articulated_objects/large_furniture/cupboard/cupboard_2/resource/cupboard_control.py
@@ -1,26 +1,16 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
 import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
+import torch
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+import omni.usd
 from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
 
-
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
     def _find_prim(prim):
         if prim.GetName() == prim_name:
             return prim.GetPath().pathString
@@ -29,213 +19,193 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
             if result:
                 return result
         return None
-    
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
 
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_9")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_cupboard_2_up_1","RevoluteJoint_cupboard_2_up_4","RevoluteJoint_cupboard_2_up_8","RevoluteJoint_cupboard_2_down_1","RevoluteJoint_cupboard_2_down_8","RevoluteJoint_cupboard_2_up_2","RevoluteJoint_cupboard_2_down_9","RevoluteJoint_cupboard_2_down_10","RevoluteJoint_cupboard_2_up_3","RevoluteJoint_cupboard_2_up_5","RevoluteJoint_cupboard_2_up_6","RevoluteJoint_cupboard_2_up_7"]
-joint_threshold = 0.3
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_9"]
+JOINT_NAMES = ["RevoluteJoint_cupboard_2_up_1",
+               "RevoluteJoint_cupboard_2_up_4",
+               "RevoluteJoint_cupboard_2_up_8",
+               "RevoluteJoint_cupboard_2_down_1",
+               "RevoluteJoint_cupboard_2_down_8",
+               "RevoluteJoint_cupboard_2_up_2",
+               "RevoluteJoint_cupboard_2_down_9",
+               "RevoluteJoint_cupboard_2_down_10",
+               "RevoluteJoint_cupboard_2_up_3",
+               "RevoluteJoint_cupboard_2_up_5",
+               "RevoluteJoint_cupboard_2_up_6",
+               "RevoluteJoint_cupboard_2_up_7"]
 
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-# light_scopes=[
-#     XFormPrim(find_prim_path_by_name("fridge_light"))
-# ]
+JOINT_THRESHOLD = 0.3
 
 class CupboardControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
+        # 尝试找到articulation根路径
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
         
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+        # 保留原始的 joints_info 用于 calculate_stiffness
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                'prim': joint,
+                'lower_limit': joint.GetLowerLimitAttr().Get(),
+                'upper_limit': joint.GetUpperLimitAttr().Get()
+            }
 
     def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        # for light in light_scopes:
-        #     light.set_visibility(False)
-        # light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
+        self._initialize_articulation()
 
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
+    def on_update(self, current_time, delta_time):
+        if delta_time <= 0: return
+        # 延迟初始化，确保physics准备好
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return  # 如果还没初始化成功，跳过本次更新
         
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        self.apply_behavior()
+
     def apply_behavior(self):
-        # self.light_control()
+        if not self.initialized or self.art is None:
+            return
         self.damping_stiffness_change()
         self.target_pose_control()
-        
-        
-    def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
-        doors_open = [
-            self.left_joint_state < math.radians(-30),
-            self.right_joint_state > math.radians(30)
-        ]
 
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
-        if any(doors_open):
-            if not current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(True)
+    def _get_scalar_value(self, value):
+        """将值转换为标量（支持torch tensor和普通数值）"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif hasattr(value, 'item'):
+            return value.item()
         else:
-            if current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
+            return float(value)
     
-    def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
+    def calculate_stiffness(self, joint_state, joint_idx):
+        """Calculate stiffness value based on joint angle (自动适配torch tensor或普通数值)"""
+        max_stiffness = 20
+        min_stiffness = 2
+        decay_rate = 3
+        
+        # 转换为标量值进行比较
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        joint_name = self.joint_names[joint_idx]
+        threshold_value = self.joint_threshold * (self.joints_info[joint_name]['upper_limit'] + self.joints_info[joint_name]['lower_limit'])
         
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 20 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 2   # 最小刚度
-        decay_rate = 3   # 衰减率
         # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
+        if abs(joint_state_scalar) >= abs(math.radians(threshold_value)):
             return min_stiffness
         
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
-        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
+        # 根据平台选择计算方式
+        if self.use_torch:
+            # Isaac Lab: 使用torch tensor计算
+            device = joint_state.device if isinstance(joint_state, torch.Tensor) else torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=device))
+            stiffness = max(min_stiffness, min(stiffness.item(), max_stiffness))
+        else:
+            # Isaac Sim: 使用math计算
+            stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+            stiffness = max(min_stiffness, min(stiffness, max_stiffness))
         
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
+        return stiffness
+
+    def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
+            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
+            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
+            joint_state = positions[idx]
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
     def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = positions[idx]
+            joint_state_scalar = self._get_scalar_value(joint_state)
+            joint_name = self.joint_names[i]
+            lower_limit = self.joints_info[joint_name]['lower_limit']
+            upper_limit = self.joints_info[joint_name]['upper_limit']
+            threshold_value = self.joint_threshold * (upper_limit + lower_limit)
             
-            # print("joint_state", joint_state)
-            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
+            # 保留原有的复杂判断逻辑
+            if abs(lower_limit) <= math.radians(abs(upper_limit)):
+                if joint_state_scalar > math.radians(threshold_value):
+                    targets.append(math.radians(upper_limit))
                 else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+                    targets.append(math.radians(lower_limit))
             else:
-                if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+                if joint_state_scalar < math.radians(threshold_value):
+                    targets.append(math.radians(lower_limit))
                 else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))
+                    targets.append(math.radians(upper_limit))
+            indices.append(idx)
+        
+        # 根据平台选择不同的action创建方式
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+        
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        """延迟初始化，在physics准备好后调用"""
+        if self.initialized:
+            return
+        
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            print("self.art :", self.art)
+            self.art.initialize()
+            
+            # 检测返回类型：torch tensor 还是 numpy/普通数值
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+            
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [{
+                "lower": dof_limits[idx, 0],
+                "upper": dof_limits[idx, 1]
+            } for idx in self.joint_indices]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            # Physics还没准备好，下次再试
+            print(f"Physics not ready yet, will retry: {e}")
+            return
diff --git a/Articulated_objects/major_appliances/dishwasher/dishwasher_1/resource/dishwasher_control.py b/Articulated_objects/major_appliances/dishwasher/dishwasher_1/resource/dishwasher_control.py
index 7d0f124d7e736b60ef56dac0024ca4928b4f782e..0b5ea6ba44fd5038c3da58a679a423bcd4f0f77d 100644
--- a/Articulated_objects/major_appliances/dishwasher/dishwasher_1/resource/dishwasher_control.py
+++ b/Articulated_objects/major_appliances/dishwasher/dishwasher_1/resource/dishwasher_control.py
@@ -1,236 +1,209 @@
 import carb
+import math
+import torch
+import numpy as np
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from isaacsim.core.prims import Articulation
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
 
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_1")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_dishwasher_1_middle"]
-joint_threshold = 0.3
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-light_scopes=[
-    XFormPrim(find_prim_path_by_name("fridge_light"))
-]
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_1"]
+JOINT_NAMES = ["RevoluteJoint_dishwasher_1_middle"]
+JOINT_THRESHOLD = 0.3
+
 
 class MagneticFridgeControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+
+        self.light_scopes = [XFormPrim(find_prim_path_by_name(LIGHT_PRIM_NAME))]
+        self.light_scopes[0].set_visibility(False)
+
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                "prim": joint,
+                "lower_limit": joint.GetLowerLimitAttr().Get(),
+                "upper_limit": joint.GetUpperLimitAttr().Get(),
+            }
 
     def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
+        self._initialize_articulation()
 
     def on_stop(self):
-        self.init_start=True
-        for light in light_scopes:
+        for light in self.light_scopes:
             light.set_visibility(False)
-        # light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
-        # self.light_control()
+        if not self.initialized or self.art is None:
+            return
         self.damping_stiffness_change()
         self.target_pose_control()
-        
-        
-    def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
-        doors_open = [
-            self.left_joint_state < math.radians(-30),
-            self.right_joint_state > math.radians(30)
-        ]
-
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
-        if any(doors_open):
-            if not current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(True)
+
+    def _initialize_articulation(self):
+        """Initialize the articulation object and get joint information"""
+        if self.initialized:
+            return
+
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            if self.art is None:
+                return
+
+            # Get joint indices
+            self.joint_indices = []
+            for joint_name in self.joint_names:
+                idx = self.art.get_dof_index(joint_name)
+                if idx is not None:
+                    self.joint_indices.append(idx)
+                else:
+                    print(f"Warning: Could not find joint index for {joint_name}")
+
+            if not self.joint_indices:
+                print("Warning: No valid joint indices found")
+                return
+
+            # Detect if using torch
+            positions = self.art.get_joint_positions()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+
+            self.initialized = True
+        except Exception as e:
+            print(f"Error initializing articulation: {e}")
+            self.initialized = False
+
+    def _get_scalar_value(self, value):
+        """Convert a value (potentially a torch.Tensor) to a scalar float"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif isinstance(value, (list, tuple, np.ndarray)):
+            return float(value[0] if len(value) > 0 else 0.0)
         else:
-            if current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
-    
+            return float(value)
+
     def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+
+        for i, joint_name in enumerate(self.joint_names):
+            if i >= len(self.joint_indices):
+                continue
+            joint_idx = self.joint_indices[i]
+            joint_state = self._get_scalar_value(positions[joint_idx])
+
             joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
             joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
-        
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 50 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 5   # 最小刚度
-        decay_rate = 3   # 衰减率
-        # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
+    def calculate_stiffness(self, joint_state, joint_idx):
+        """Calculate stiffness value based on joint angle"""
+        max_stiffness = 50
+        min_stiffness = 5
+        decay_rate = 3
+
+        joint_name = self.joint_names[joint_idx]
+        threshold_value = abs(self.joint_threshold * (self.joints_info[joint_name]['upper_limit'] + self.joints_info[joint_name]['lower_limit']))
+        if abs(joint_state) >= threshold_value:
             return min_stiffness
-        
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
+
         stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-        
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
+        return max(min_stiffness, min(stiffness, max_stiffness))
+
     def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= abs(joints_info[joint_names[i]]['upper_limit']):
-                if joint_state > joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']):
-                    self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+
+        for i, joint_name in enumerate(self.joint_names):
+            if i >= len(self.joint_indices):
+                continue
+            joint_idx = self.joint_indices[i]
+            joint_state = self._get_scalar_value(positions[joint_idx])
+
+            lower_limit = self.joints_info[joint_name]['lower_limit']
+            upper_limit = self.joints_info[joint_name]['upper_limit']
+            threshold_value = self.joint_threshold * (upper_limit + lower_limit)
+
+            if abs(lower_limit) <= abs(upper_limit):
+                if joint_state > threshold_value:
+                    target = upper_limit
                 else:
-                    self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit'])
+                    target = lower_limit
             else:
-                if joint_state > joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']):
-                    self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit'])
+                if joint_state > threshold_value:
+                    target = lower_limit
                 else:
-                    self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
+                    target = upper_limit
+
+            targets.append(target)
+            indices.append(joint_idx)
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
diff --git a/Articulated_objects/major_appliances/dishwasher/dishwasher_2/resource/dishwasher_control.py b/Articulated_objects/major_appliances/dishwasher/dishwasher_2/resource/dishwasher_control.py
index 7a418d766ae61e4acd1d3a92aea57f36aaa14016..0961b6218c5a1817639de85993bc66526e5252e3 100644
--- a/Articulated_objects/major_appliances/dishwasher/dishwasher_2/resource/dishwasher_control.py
+++ b/Articulated_objects/major_appliances/dishwasher/dishwasher_2/resource/dishwasher_control.py
@@ -1,241 +1,239 @@
 import carb
+import math
+import torch
+import numpy as np
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from isaacsim.core.prims import Articulation
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
 
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_5")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_dishwasher_2_middle"]
-joint_threshold = 0.3
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-# light_scopes=[
-#     XFormPrim(find_prim_path_by_name("fridge_light"))
-# ]
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_5"]
+JOINT_NAMES = ["RevoluteJoint_dishwasher_2_middle"]
+JOINT_THRESHOLD = 0.3
+
 
 class MagneticFridgeControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                "prim": joint,
+                "lower_limit": joint.GetLowerLimitAttr().Get(),
+                "upper_limit": joint.GetUpperLimitAttr().Get(),
+            }
 
     def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
+        self._initialize_articulation()
 
     def on_stop(self):
-        self.init_start=True
-        # for light in light_scopes:
-        #     light.set_visibility(False)
-        # light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
         pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         # self.light_control()
         self.damping_stiffness_change()
         self.target_pose_control()
-        
-        
+
+    def _initialize_articulation(self):
+        """Initialize the articulation object and get joint information"""
+        if self.initialized:
+            return
+
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            if self.art is None:
+                return
+
+            # Get joint indices
+            self.joint_indices = []
+            for joint_name in self.joint_names:
+                idx = self.art.get_dof_index(joint_name)
+                if idx is not None:
+                    self.joint_indices.append(idx)
+                else:
+                    print(f"Warning: Could not find joint index for {joint_name}")
+
+            if not self.joint_indices:
+                print("Warning: No valid joint indices found")
+                return
+
+            # # Get joint limits from articulation
+            # dof_properties = self.art.get_dof_properties()
+            # self.joint_limits = {}
+            # self.joint_limit_diffs = {}
+            # for i, joint_name in enumerate(self.joint_names):
+            #     if i < len(self.joint_indices):
+            #         idx = self.joint_indices[i]
+            #         if idx < len(dof_properties):
+            #             lower = dof_properties[idx]["lower"]
+            #             upper = dof_properties[idx]["upper"]
+            #             self.joint_limits[joint_name] = {"lower": lower, "upper": upper}
+            #             self.joint_limit_diffs[joint_name] = upper - lower
+
+            # Detect if using torch
+            positions = self.art.get_joint_positions()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+
+            self.initialized = True
+        except Exception as e:
+            print(f"Error initializing articulation: {e}")
+            self.initialized = False
+
+    def _get_scalar_value(self, value):
+        """Convert a value (potentially a torch.Tensor) to a scalar float"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif isinstance(value, (list, tuple, np.ndarray)):
+            return float(value[0] if len(value) > 0 else 0.0)
+        else:
+            return float(value)
+
     def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
+        positions = self.art.get_joint_positions().squeeze()
+        left_joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        right_joint_state = self._get_scalar_value(positions[self.joint_indices[1]]) if len(self.joint_indices) > 1 else 0.0
+
         doors_open = [
-            self.left_joint_state < math.radians(-30),
-            self.right_joint_state > math.radians(30)
+            left_joint_state < math.radians(-30),
+            right_joint_state > math.radians(30)
         ]
 
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
+        current_visibility = self.light_scopes[0].get_visibility()
         if any(doors_open):
             if not current_visibility:
-                for light in light_scopes:
+                for light in self.light_scopes:
                     light.set_visibility(True)
         else:
             if current_visibility:
-                for light in light_scopes:
+                for light in self.light_scopes:
                     light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
-    
+
     def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+
+        for i, joint_name in enumerate(self.joint_names):
+            if i >= len(self.joint_indices):
+                continue
+            joint_idx = self.joint_indices[i]
+            joint_state = self._get_scalar_value(positions[joint_idx])
+
             joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
             joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
-        
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 20 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 2   # 最小刚度
-        decay_rate = 3   # 衰减率
-        # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
+    def calculate_stiffness(self, joint_state, joint_idx):
+        """Calculate stiffness value based on joint angle"""
+        max_stiffness = 10
+        min_stiffness = 2
+        decay_rate = 3
+
+        joint_name = self.joint_names[joint_idx]
+        threshold_value = abs(math.radians(self.joint_threshold * (self.joints_info[joint_name]['upper_limit'] + self.joints_info[joint_name]['lower_limit'])))
+        if abs(joint_state) >= threshold_value:
             return min_stiffness
-        
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
+
         stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-        
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
+        return max(min_stiffness, min(stiffness, max_stiffness))
+
     def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            
-            # print("joint_state", joint_state)
-            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+
+        for i, joint_name in enumerate(self.joint_names):
+            if i >= len(self.joint_indices):
+                continue
+            joint_idx = self.joint_indices[i]
+            joint_state = self._get_scalar_value(positions[joint_idx])
+
+            lower_limit = self.joints_info[joint_name]['lower_limit']
+            upper_limit = self.joints_info[joint_name]['upper_limit']
+            threshold_value = math.radians(self.joint_threshold * (upper_limit + lower_limit))
+
+            if abs(lower_limit) <= math.radians(abs(upper_limit)):
+                if joint_state > threshold_value:
+                    target = math.radians(upper_limit)
                 else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+                    target = math.radians(lower_limit)
             else:
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+                if joint_state > threshold_value:
+                    target = math.radians(lower_limit)
                 else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))
+                    target = math.radians(upper_limit)
+
+            targets.append(target)
+            indices.append(joint_idx)
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
diff --git a/Articulated_objects/major_appliances/dishwasher/dishwasher_3/model_dishwasher_3.usd b/Articulated_objects/major_appliances/dishwasher/dishwasher_3/model_dishwasher_3.usd
index 8c4e712f5a8701c33c3c81f480dfacfbf45efdb8..90ed90ad2513f00c38c1fdae6ac35fe844e5edb6 100644
--- a/Articulated_objects/major_appliances/dishwasher/dishwasher_3/model_dishwasher_3.usd
+++ b/Articulated_objects/major_appliances/dishwasher/dishwasher_3/model_dishwasher_3.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8db3f74cbb494855048fd51d221e45c996034661416489fcd95c8d833f535629
-size 2638558
+oid sha256:f622c9874ad39f27fcabf708f414ffa240af50663a44e1b01fc710160081c980
+size 2641627
diff --git a/Articulated_objects/major_appliances/dishwasher/dishwasher_3/resource/dishwasher_control.py b/Articulated_objects/major_appliances/dishwasher/dishwasher_3/resource/dishwasher_control.py
index 9c15de0cb7e99a66922b91a42787276f1c61f777..0ac7cfce29c841ba7fb7a51e1bcb61cc35a0d956 100644
--- a/Articulated_objects/major_appliances/dishwasher/dishwasher_3/resource/dishwasher_control.py
+++ b/Articulated_objects/major_appliances/dishwasher/dishwasher_3/resource/dishwasher_control.py
@@ -1,241 +1,239 @@
 import carb
+import math
+import torch
+import numpy as np
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from isaacsim.core.prims import Articulation
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
 
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_6")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_dishwasher_3_middle"]
-joint_threshold = 0.3
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-# light_scopes=[
-#     XFormPrim(find_prim_path_by_name("fridge_light"))
-# ]
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_6"]
+JOINT_NAMES = ["RevoluteJoint_dishwasher_3_middle"]
+JOINT_THRESHOLD = 0.3
+
 
 class MagneticFridgeControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                "prim": joint,
+                "lower_limit": joint.GetLowerLimitAttr().Get(),
+                "upper_limit": joint.GetUpperLimitAttr().Get(),
+            }
 
     def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
+        self._initialize_articulation()
 
     def on_stop(self):
-        self.init_start=True
-        # for light in light_scopes:
-        #     light.set_visibility(False)
-        # light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
         pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         # self.light_control()
         self.damping_stiffness_change()
         self.target_pose_control()
-        
-        
+
+    def _initialize_articulation(self):
+        """Initialize the articulation object and get joint information"""
+        if self.initialized:
+            return
+
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            if self.art is None:
+                return
+
+            # Get joint indices
+            self.joint_indices = []
+            for joint_name in self.joint_names:
+                idx = self.art.get_dof_index(joint_name)
+                if idx is not None:
+                    self.joint_indices.append(idx)
+                else:
+                    print(f"Warning: Could not find joint index for {joint_name}")
+
+            if not self.joint_indices:
+                print("Warning: No valid joint indices found")
+                return
+
+            # # Get joint limits from articulation
+            # dof_properties = self.art.get_dof_properties()
+            # self.joint_limits = {}
+            # self.joint_limit_diffs = {}
+            # for i, joint_name in enumerate(self.joint_names):
+            #     if i < len(self.joint_indices):
+            #         idx = self.joint_indices[i]
+            #         if idx < len(dof_properties):
+            #             lower = dof_properties[idx]["lower"]
+            #             upper = dof_properties[idx]["upper"]
+            #             self.joint_limits[joint_name] = {"lower": lower, "upper": upper}
+            #             self.joint_limit_diffs[joint_name] = upper - lower
+
+            # Detect if using torch
+            positions = self.art.get_joint_positions()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+
+            self.initialized = True
+        except Exception as e:
+            print(f"Error initializing articulation: {e}")
+            self.initialized = False
+
+    def _get_scalar_value(self, value):
+        """Convert a value (potentially a torch.Tensor) to a scalar float"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif isinstance(value, (list, tuple, np.ndarray)):
+            return float(value[0] if len(value) > 0 else 0.0)
+        else:
+            return float(value)
+
     def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
+        positions = self.art.get_joint_positions().squeeze()
+        left_joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        right_joint_state = self._get_scalar_value(positions[self.joint_indices[1]]) if len(self.joint_indices) > 1 else 0.0
+
         doors_open = [
-            self.left_joint_state < math.radians(-30),
-            self.right_joint_state > math.radians(30)
+            left_joint_state < math.radians(-30),
+            right_joint_state > math.radians(30)
         ]
 
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
+        current_visibility = self.light_scopes[0].get_visibility()
         if any(doors_open):
             if not current_visibility:
-                for light in light_scopes:
+                for light in self.light_scopes:
                     light.set_visibility(True)
         else:
             if current_visibility:
-                for light in light_scopes:
+                for light in self.light_scopes:
                     light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
-    
+
     def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+
+        for i, joint_name in enumerate(self.joint_names):
+            if i >= len(self.joint_indices):
+                continue
+            joint_idx = self.joint_indices[i]
+            joint_state = self._get_scalar_value(positions[joint_idx])
+
             joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
             joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
-        
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 20 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 2   # 最小刚度
-        decay_rate = 3   # 衰减率
-        # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
+    def calculate_stiffness(self, joint_state, joint_idx):
+        """Calculate stiffness value based on joint angle"""
+        max_stiffness = 20
+        min_stiffness = 2
+        decay_rate = 3
+
+        joint_name = self.joint_names[joint_idx]
+        threshold_value = abs(math.radians(self.joint_threshold * (self.joints_info[joint_name]['upper_limit'] + self.joints_info[joint_name]['lower_limit'])))
+        if abs(joint_state) >= threshold_value:
             return min_stiffness
-        
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
+
         stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-        
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
+        return max(min_stiffness, min(stiffness, max_stiffness))
+
     def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            
-            # print("joint_state", joint_state)
-            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+
+        for i, joint_name in enumerate(self.joint_names):
+            if i >= len(self.joint_indices):
+                continue
+            joint_idx = self.joint_indices[i]
+            joint_state = self._get_scalar_value(positions[joint_idx])
+
+            lower_limit = self.joints_info[joint_name]['lower_limit']
+            upper_limit = self.joints_info[joint_name]['upper_limit']
+            threshold_value = math.radians(self.joint_threshold * (upper_limit + lower_limit))
+
+            if abs(lower_limit) <= math.radians(abs(upper_limit)):
+                if joint_state > threshold_value:
+                    target = math.radians(upper_limit)
                 else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+                    target = math.radians(lower_limit)
             else:
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+                if joint_state > threshold_value:
+                    target = math.radians(lower_limit)
                 else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))
+                    target = math.radians(upper_limit)
+
+            targets.append(target)
+            indices.append(joint_idx)
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
diff --git a/Articulated_objects/major_appliances/dishwasher/l_dishwasher_1/resource/dishwasher_control.py b/Articulated_objects/major_appliances/dishwasher/l_dishwasher_1/resource/dishwasher_control.py
index 1a525c8fc5560d5ecc3093cad7d467e284009245..4e7a2dc9a9330eec83615c77cbe0ea217e61f835 100644
--- a/Articulated_objects/major_appliances/dishwasher/l_dishwasher_1/resource/dishwasher_control.py
+++ b/Articulated_objects/major_appliances/dishwasher/l_dishwasher_1/resource/dishwasher_control.py
@@ -1,28 +1,16 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
 import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
+import torch
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+import omni.usd
 from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
-
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
     def _find_prim(prim):
         if prim.GetName() == prim_name:
             return prim.GetPath().pathString
@@ -31,157 +19,155 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
             if result:
                 return result
         return None
-    
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 50 
-    min_stiffness = 5   
-    decay_rate = 4  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  0.5 * joint_threshold
-    if joint_state < threshold:
-        return min_stiffness
-    stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-    return max(min_stiffness, min(stiffness, max_stiffness))
-        
-
-# 1. Articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_1")
-joint_threshold = -0.3
 
-# 2. Joint names 
-joint_names = ["PrismaticJoint_l_dishwasher_1_up","PrismaticJoint_l_dishwasher_1_down"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
-stage = omni.usd.get_context().get_stage()
-joints_info = {}
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_1"]
+JOINT_NAMES = ["PrismaticJoint_l_dishwasher_1_up", "PrismaticJoint_l_dishwasher_1_down"]
+JOINT_THRESHOLD = -0.3
 
-# 3. Joint information
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
-
-# 4. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-
-
-class TableControl(BehaviorScript):
+class DishwasherControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        # 尝试找到articulation根路径
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+        
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
 
     def on_play(self):
-        # Initialize simulation context
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
+        self._initialize_articulation()
+
+    def on_update(self, current_time, delta_time):
+        if delta_time <= 0: return
+        # 延迟初始化，确保physics准备好
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return  # 如果还没初始化成功，跳过本次更新
         
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
+
+    def _get_scalar_value(self, value):
+        """将值转换为标量（支持torch tensor和普通数值）"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif hasattr(value, 'item'):
+            return value.item()
+        else:
+            return float(value)
     
+    def calculate_stiffness(self, joint_state, joint_limit):
+        """Calculate stiffness value based on joint angle (自动适配torch tensor或普通数值)"""
+        max_stiffness = 50
+        min_stiffness = 5
+        decay_rate = 4
+        threshold = 0.5 * self.joint_threshold
+        
+        # 转换为标量值进行比较
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        
+        if joint_state_scalar < threshold:
+            return min_stiffness
+        
+        # 根据平台选择计算方式
+        if self.use_torch:
+            # Isaac Lab: 使用torch tensor计算
+            device = joint_state.device if isinstance(joint_state, torch.Tensor) else torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=device))
+            stiffness = max(min_stiffness, min(stiffness.item(), max_stiffness))
+        else:
+            # Isaac Sim: 使用math计算
+            stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+            stiffness = max(min_stiffness, min(stiffness, max_stiffness))
+        
+        return stiffness
+
     def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
         stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
             joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
             joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+            joint_state = positions[idx]
+            joint_limit_diff = self.joint_limit_diffs[i]
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, joint_limit_diff))
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-                # print("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++")
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = positions[idx]
+            # 转换为标量值进行比较
+            joint_state_scalar = self._get_scalar_value(joint_state)
+            
+            if joint_state_scalar > 0.5 * self.joint_threshold:
+                targets.append(self.joint_limits[i]["upper"])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-                # print("------------------------------------------------------------")
+                targets.append(self.joint_limits[i]["lower"])
+        
+        # 根据平台选择不同的action创建方式
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(self.joint_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=self.joint_indices)
+        
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        """延迟初始化，在physics准备好后调用"""
+        if self.initialized:
+            return
         
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            print("self.art :", self.art)
+            self.art.initialize()
+            
+            # 检测返回类型：torch tensor 还是 numpy/普通数值
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+            
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [{
+                "lower": dof_limits[idx, 0],
+                "upper": dof_limits[idx, 1]
+            } for idx in self.joint_indices]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            # Physics还没准备好，下次再试
+            print(f"Physics not ready yet, will retry: {e}")
+            return
diff --git a/Articulated_objects/major_appliances/dishwasher/l_dishwasher_2/model_l_dishwasher_2.usd b/Articulated_objects/major_appliances/dishwasher/l_dishwasher_2/model_l_dishwasher_2.usd
index 2d76f7101fe32ddb02bdd8d7132adf0c868de79f..12951e6a2aea6cba13c18c9534d558677e53eaa6 100644
--- a/Articulated_objects/major_appliances/dishwasher/l_dishwasher_2/model_l_dishwasher_2.usd
+++ b/Articulated_objects/major_appliances/dishwasher/l_dishwasher_2/model_l_dishwasher_2.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e9fde39fe32fb422118e70035e5bf3acb3e558ded6bcdc0b39645cbf28e336fc
-size 13229
+oid sha256:7a16a80c71d7717f04f3d449274bb4b44d0b9cf3121afa9eeeed3145ba0f5c4d
+size 15709
diff --git a/Articulated_objects/major_appliances/dishwasher/l_dishwasher_2/resource/dishwasher_control.py b/Articulated_objects/major_appliances/dishwasher/l_dishwasher_2/resource/dishwasher_control.py
index a20dd5f3b87eca55cf7d2f14e12f79ef652adbbd..7b9b71dbf01aae0f069ed68039c26bb1c74c23db 100644
--- a/Articulated_objects/major_appliances/dishwasher/l_dishwasher_2/resource/dishwasher_control.py
+++ b/Articulated_objects/major_appliances/dishwasher/l_dishwasher_2/resource/dishwasher_control.py
@@ -1,28 +1,16 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
 import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
+import torch
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+import omni.usd
 from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
-
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
     def _find_prim(prim):
         if prim.GetName() == prim_name:
             return prim.GetPath().pathString
@@ -31,157 +19,155 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
             if result:
                 return result
         return None
-    
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 50 
-    min_stiffness = 5   
-    decay_rate = 4  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  0.5 * joint_threshold
-    if joint_state < threshold:
-        return min_stiffness
-    stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-    return max(min_stiffness, min(stiffness, max_stiffness))
-        
-
-# 1. Articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_3")
-joint_threshold = -0.2
 
-# 2. Joint names 
-joint_names = ["PrismaticJoint_l_dishwasher_2_down","PrismaticJoint_l_dishwasher_2_up"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
-stage = omni.usd.get_context().get_stage()
-joints_info = {}
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_3"]
+JOINT_NAMES = ["PrismaticJoint_l_dishwasher_2_down", "PrismaticJoint_l_dishwasher_2_up"]
+JOINT_THRESHOLD = -0.2
 
-# 3. Joint information
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
-
-# 4. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-
-
-class TableControl(BehaviorScript):
+class DishwasherControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        # 尝试找到articulation根路径
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+        
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
 
     def on_play(self):
-        # Initialize simulation context
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
+        self._initialize_articulation()
+
+    def on_update(self, current_time, delta_time):
+        if delta_time <= 0: return
+        # 延迟初始化，确保physics准备好
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return  # 如果还没初始化成功，跳过本次更新
         
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
+
+    def _get_scalar_value(self, value):
+        """将值转换为标量（支持torch tensor和普通数值）"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif hasattr(value, 'item'):
+            return value.item()
+        else:
+            return float(value)
     
+    def calculate_stiffness(self, joint_state, joint_limit):
+        """Calculate stiffness value based on joint angle (自动适配torch tensor或普通数值)"""
+        max_stiffness = 50
+        min_stiffness = 5
+        decay_rate = 4
+        threshold = 0.5 * self.joint_threshold
+        
+        # 转换为标量值进行比较
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        
+        if joint_state_scalar < threshold:
+            return min_stiffness
+        
+        # 根据平台选择计算方式
+        if self.use_torch:
+            # Isaac Lab: 使用torch tensor计算
+            device = joint_state.device if isinstance(joint_state, torch.Tensor) else torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=device))
+            stiffness = max(min_stiffness, min(stiffness.item(), max_stiffness))
+        else:
+            # Isaac Sim: 使用math计算
+            stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+            stiffness = max(min_stiffness, min(stiffness, max_stiffness))
+        
+        return stiffness
+
     def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
         stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
             joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
             joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+            joint_state = positions[idx]
+            joint_limit_diff = self.joint_limit_diffs[i]
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, joint_limit_diff))
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-                # print("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++")
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = positions[idx]
+            # 转换为标量值进行比较
+            joint_state_scalar = self._get_scalar_value(joint_state)
+            
+            if joint_state_scalar > 0.5 * self.joint_threshold:
+                targets.append(self.joint_limits[i]["upper"])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-                # print("------------------------------------------------------------")
+                targets.append(self.joint_limits[i]["lower"])
+        
+        # 根据平台选择不同的action创建方式
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(self.joint_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=self.joint_indices)
+        
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        """延迟初始化，在physics准备好后调用"""
+        if self.initialized:
+            return
         
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            print("self.art :", self.art)
+            self.art.initialize()
+            
+            # 检测返回类型：torch tensor 还是 numpy/普通数值
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+            
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [{
+                "lower": dof_limits[idx, 0],
+                "upper": dof_limits[idx, 1]
+            } for idx in self.joint_indices]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            # Physics还没准备好，下次再试
+            print(f"Physics not ready yet, will retry: {e}")
+            return
diff --git a/Articulated_objects/major_appliances/dishwasher/l_dishwasher_3/model_l_dishwasher_3.usda b/Articulated_objects/major_appliances/dishwasher/l_dishwasher_3/model_l_dishwasher_3.usda
index 7f188a00cf3464ed7d79975fb4f9fa5da88681d1..c0404f959eea5f41229b1fe0f0250f56abfcb3b0 100644
--- a/Articulated_objects/major_appliances/dishwasher/l_dishwasher_3/model_l_dishwasher_3.usda
+++ b/Articulated_objects/major_appliances/dishwasher/l_dishwasher_3/model_l_dishwasher_3.usda
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f2537217de7383728067c920ad76c2fd75af2ffd9a1a0bee73ef83fa5ff44631
-size 415874
+oid sha256:dcdf052bf24b028d21a97f489698d0eb249045cfe1cc20fec8c759fd0f384128
+size 418759
diff --git a/Articulated_objects/major_appliances/dishwasher/l_dishwasher_3/resource/dishwasher_control.py b/Articulated_objects/major_appliances/dishwasher/l_dishwasher_3/resource/dishwasher_control.py
index 9885ee2167c3af6f7bc205b47690831689f4a5fc..c83018bf487d65bae84458781943255272f03d0b 100644
--- a/Articulated_objects/major_appliances/dishwasher/l_dishwasher_3/resource/dishwasher_control.py
+++ b/Articulated_objects/major_appliances/dishwasher/l_dishwasher_3/resource/dishwasher_control.py
@@ -1,28 +1,16 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
 import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
+import torch
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+import omni.usd
 from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
-
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
     def _find_prim(prim):
         if prim.GetName() == prim_name:
             return prim.GetPath().pathString
@@ -31,157 +19,155 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
             if result:
                 return result
         return None
-    
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 50 
-    min_stiffness = 5   
-    decay_rate = 4  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  0.5 * joint_threshold
-    if joint_state < threshold:
-        return min_stiffness
-    stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-    return max(min_stiffness, min(stiffness, max_stiffness))
-        
-
-# 1. Articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_3")
-joint_threshold = -0.3
 
-# 2. Joint names 
-joint_names = ["PrismaticJoint_l_dishwasher_3_down","PrismaticJoint_l_dishwasher_3_up"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
-stage = omni.usd.get_context().get_stage()
-joints_info = {}
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_3"]
+JOINT_NAMES = ["PrismaticJoint_l_dishwasher_3_down", "PrismaticJoint_l_dishwasher_3_up"]
+JOINT_THRESHOLD = -0.3
 
-# 3. Joint information
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
-
-# 4. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-
-
-class TableControl(BehaviorScript):
+class DishwasherControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        # 尝试找到articulation根路径
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+        
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
 
     def on_play(self):
-        # Initialize simulation context
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
+        self._initialize_articulation()
+
+    def on_update(self, current_time, delta_time):
+        if delta_time <= 0: return
+        # 延迟初始化，确保physics准备好
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return  # 如果还没初始化成功，跳过本次更新
         
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
+
+    def _get_scalar_value(self, value):
+        """将值转换为标量（支持torch tensor和普通数值）"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif hasattr(value, 'item'):
+            return value.item()
+        else:
+            return float(value)
     
+    def calculate_stiffness(self, joint_state, joint_limit):
+        """Calculate stiffness value based on joint angle (自动适配torch tensor或普通数值)"""
+        max_stiffness = 50
+        min_stiffness = 5
+        decay_rate = 4
+        threshold = 0.5 * self.joint_threshold
+        
+        # 转换为标量值进行比较
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        
+        if joint_state_scalar < threshold:
+            return min_stiffness
+        
+        # 根据平台选择计算方式
+        if self.use_torch:
+            # Isaac Lab: 使用torch tensor计算
+            device = joint_state.device if isinstance(joint_state, torch.Tensor) else torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=device))
+            stiffness = max(min_stiffness, min(stiffness.item(), max_stiffness))
+        else:
+            # Isaac Sim: 使用math计算
+            stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+            stiffness = max(min_stiffness, min(stiffness, max_stiffness))
+        
+        return stiffness
+
     def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
         stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
             joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
             joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+            joint_state = positions[idx]
+            joint_limit_diff = self.joint_limit_diffs[i]
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, joint_limit_diff))
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-                # print("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++")
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = positions[idx]
+            # 转换为标量值进行比较
+            joint_state_scalar = self._get_scalar_value(joint_state)
+            
+            if joint_state_scalar > 0.5 * self.joint_threshold:
+                targets.append(self.joint_limits[i]["upper"])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-                # print("------------------------------------------------------------")
+                targets.append(self.joint_limits[i]["lower"])
+        
+        # 根据平台选择不同的action创建方式
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(self.joint_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=self.joint_indices)
+        
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        """延迟初始化，在physics准备好后调用"""
+        if self.initialized:
+            return
         
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            print("self.art :", self.art)
+            self.art.initialize()
+            
+            # 检测返回类型：torch tensor 还是 numpy/普通数值
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+            
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [{
+                "lower": dof_limits[idx, 0],
+                "upper": dof_limits[idx, 1]
+            } for idx in self.joint_indices]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            # Physics还没准备好，下次再试
+            print(f"Physics not ready yet, will retry: {e}")
+            return
diff --git a/Articulated_objects/major_appliances/refrigerator/fridge_1/model_fridge_1.usd b/Articulated_objects/major_appliances/refrigerator/fridge_1/model_fridge_1.usd
index 1121eb0b1f4b05708fd7806796b104a21340cc10..6ae8d69965c7ff3911246b0d03560276b2cc8abe 100644
--- a/Articulated_objects/major_appliances/refrigerator/fridge_1/model_fridge_1.usd
+++ b/Articulated_objects/major_appliances/refrigerator/fridge_1/model_fridge_1.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2c3f68d54563f991fd5ac4ceaf3d928856a87fc9e8e587960d2b6cafe80c59f8
-size 4223654
+oid sha256:5b324773016908336d1e120af072578b586e0710cdfb4acd39050432b9efd880
+size 4227299
diff --git a/Articulated_objects/major_appliances/refrigerator/fridge_1/resource/cupboard_control.py b/Articulated_objects/major_appliances/refrigerator/fridge_1/resource/cupboard_control.py
deleted file mode 100644
index 1bac39f6f422901677b9cfcfaa98ac2500474f0f..0000000000000000000000000000000000000000
--- a/Articulated_objects/major_appliances/refrigerator/fridge_1/resource/cupboard_control.py
+++ /dev/null
@@ -1,241 +0,0 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-
-
-def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
-    stage = omni.usd.get_context().get_stage()
-    prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
-            result = _find_prim(child)
-            if result:
-                return result
-        return None
-    
-    found_path = _find_prim(prim)
-    if not found_path:
-        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
-    return found_path
-
-
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_12")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_fridge_1_up","RevoluteJoint_fridge_1_down"]
-joint_threshold = 0.3
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-light_scopes=[
-     XFormPrim(find_prim_path_by_name("fridge_1_light"))
-]
-
-class CupboardControl(BehaviorScript):
-    def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
-
-    def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        # for light in light_scopes:
-        #     light.set_visibility(False)
-        light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
-    def apply_behavior(self):
-        self.light_control()
-        self.damping_stiffness_change()
-        self.target_pose_control()
-        
-        
-    def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
-        doors_open = [
-            self.left_joint_state > math.radians(30),
-            self.right_joint_state > math.radians(30)
-        ]
-
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
-        if any(doors_open):
-            if not current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(True)
-        else:
-            if current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                # self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
-    
-    def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
-        
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 20 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 2   # 最小刚度
-        decay_rate = 3   # 衰减率
-        # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
-            return min_stiffness
-        
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
-        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-        
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
-    def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            
-            # print("joint_state", joint_state)
-            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-            else:
-                if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))
diff --git a/Articulated_objects/major_appliances/refrigerator/fridge_1/resource/refrigherator_control.py b/Articulated_objects/major_appliances/refrigerator/fridge_1/resource/refrigherator_control.py
new file mode 100644
index 0000000000000000000000000000000000000000..b11df476c7f985e3c5e13511339f0c89b6fafc83
--- /dev/null
+++ b/Articulated_objects/major_appliances/refrigerator/fridge_1/resource/refrigherator_control.py
@@ -0,0 +1,207 @@
+import carb
+import math
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from omni.isaac.core.prims import XFormPrim
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_12"]
+JOINT_NAMES = ["RevoluteJoint_fridge_1_up", "RevoluteJoint_fridge_1_down"]
+JOINT_THRESHOLD = 0.3
+LIGHT_PRIM_NAME = "fridge_1_light"
+
+
+class CupboardControl(BehaviorScript):
+    def on_init(self):
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+
+        self.light_scopes = [XFormPrim(find_prim_path_by_name(LIGHT_PRIM_NAME))]
+        self.light_scopes[0].set_visibility(False)
+
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                "prim": joint,
+                "lower_limit": joint.GetLowerLimitAttr().Get(),
+                "upper_limit": joint.GetUpperLimitAttr().Get(),
+            }
+
+    def on_play(self):
+        self._initialize_articulation()
+
+    def on_stop(self):
+        self.light_scopes[0].set_visibility(False)
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
+    def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
+        self.light_control()
+        self.damping_stiffness_change()
+        self.target_pose_control()
+
+    def light_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        left_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        right_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
+        doors_open = [
+            left_state > math.radians(30),
+            right_state > math.radians(30),
+        ]
+        current_visibility = self.light_scopes[0].get_visibility()
+        if any(doors_open) and not current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(True)
+        elif not any(doors_open) and current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(False)
+
+    def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
+            joint_state = positions[idx]
+            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
+            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
+    def calculate_stiffness(self, joint_state, joint_idx):
+        max_stiffness = 20
+        min_stiffness = 2
+        decay_rate = 3
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        joint_name = self.joint_names[joint_idx]
+        threshold = self.joint_threshold * (
+            self.joints_info[joint_name]["upper_limit"] + self.joints_info[joint_name]["lower_limit"]
+        )
+
+        if abs(joint_state_scalar) >= abs(math.radians(threshold)):
+            return min_stiffness
+
+        if self.use_torch and isinstance(joint_state, torch.Tensor):
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=joint_state.device))
+            return float(max(min_stiffness, min(stiffness.item(), max_stiffness)))
+        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+        return max(min_stiffness, min(stiffness, max_stiffness))
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = self._get_scalar_value(positions[idx])
+            joint_name = self.joint_names[i]
+            lower_limit = self.joints_info[joint_name]["lower_limit"]
+            upper_limit = self.joints_info[joint_name]["upper_limit"]
+            threshold = self.joint_threshold * (upper_limit + lower_limit)
+
+            if abs(lower_limit) <= math.radians(abs(upper_limit)):
+                if joint_state > math.radians(threshold):
+                    targets.append(math.radians(upper_limit))
+                else:
+                    targets.append(math.radians(lower_limit))
+            else:
+                if joint_state < math.radians(threshold):
+                    targets.append(math.radians(lower_limit))
+                else:
+                    targets.append(math.radians(upper_limit))
+            indices.append(idx)
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            print(f"Physics not ready yet, will retry: {e}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/major_appliances/refrigerator/fridge_2/model_fridge_2.usd b/Articulated_objects/major_appliances/refrigerator/fridge_2/model_fridge_2.usd
index 80b82eff1913838b7ab81657709d5c593e18217f..4020c97ee2d66501be7dfbd9ceb12123426a315a 100644
--- a/Articulated_objects/major_appliances/refrigerator/fridge_2/model_fridge_2.usd
+++ b/Articulated_objects/major_appliances/refrigerator/fridge_2/model_fridge_2.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e8110df5e4be60ef8151f924746a5c85fe17eae17cd2e20162594e1988ac951e
-size 4204633
+oid sha256:d26248ed0fa9843e180562c9763b19c176381040677b1246656d8fb52fcc493e
+size 4208307
diff --git a/Articulated_objects/major_appliances/refrigerator/fridge_2/resource/cupboard_control.py b/Articulated_objects/major_appliances/refrigerator/fridge_2/resource/cupboard_control.py
deleted file mode 100644
index 0aeb2a9333a594709228d92a2a88b5b3848681ca..0000000000000000000000000000000000000000
--- a/Articulated_objects/major_appliances/refrigerator/fridge_2/resource/cupboard_control.py
+++ /dev/null
@@ -1,241 +0,0 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-
-
-def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
-    stage = omni.usd.get_context().get_stage()
-    prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
-            result = _find_prim(child)
-            if result:
-                return result
-        return None
-    
-    found_path = _find_prim(prim)
-    if not found_path:
-        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
-    return found_path
-
-
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_11")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_fridge_2_up","RevoluteJoint_fridge_2_down"]
-joint_threshold = 0.3
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-light_scopes=[
-     XFormPrim(find_prim_path_by_name("fridge_2_light"))
-]
-
-class Fridge2Control(BehaviorScript):
-    def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
-
-    def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        # for light in light_scopes:
-        #     light.set_visibility(False)
-        light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
-    def apply_behavior(self):
-        self.light_control()
-        self.damping_stiffness_change()
-        self.target_pose_control()
-        
-        
-    def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
-        doors_open = [
-            self.left_joint_state > math.radians(30),
-            self.right_joint_state > math.radians(30)
-        ]
-
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
-        if any(doors_open):
-            if not current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(True)
-        else:
-            if current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                # self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
-    
-    def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
-        
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 20 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 2   # 最小刚度
-        decay_rate = 3   # 衰减率
-        # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
-            return min_stiffness
-        
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
-        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-        
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
-    def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            
-            # print("joint_state", joint_state)
-            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-            else:
-                if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))
diff --git a/Articulated_objects/major_appliances/refrigerator/fridge_2/resource/refrigherator_control.py b/Articulated_objects/major_appliances/refrigerator/fridge_2/resource/refrigherator_control.py
new file mode 100644
index 0000000000000000000000000000000000000000..7ab26ee8d0f0e8b8b895194b61c48b31a50b6665
--- /dev/null
+++ b/Articulated_objects/major_appliances/refrigerator/fridge_2/resource/refrigherator_control.py
@@ -0,0 +1,207 @@
+import carb
+import math
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from omni.isaac.core.prims import XFormPrim
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_11"]
+JOINT_NAMES = ["RevoluteJoint_fridge_2_up", "RevoluteJoint_fridge_2_down"]
+JOINT_THRESHOLD = 0.3
+LIGHT_PRIM_NAME = "fridge_2_light"
+
+
+class Fridge2Control(BehaviorScript):
+    def on_init(self):
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+
+        self.light_scopes = [XFormPrim(find_prim_path_by_name(LIGHT_PRIM_NAME))]
+        self.light_scopes[0].set_visibility(False)
+
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                "prim": joint,
+                "lower_limit": joint.GetLowerLimitAttr().Get(),
+                "upper_limit": joint.GetUpperLimitAttr().Get(),
+            }
+
+    def on_play(self):
+        self._initialize_articulation()
+
+    def on_stop(self):
+        self.light_scopes[0].set_visibility(False)
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
+    def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
+        self.light_control()
+        self.damping_stiffness_change()
+        self.target_pose_control()
+
+    def light_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        left_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        right_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
+        doors_open = [
+            left_state > math.radians(30),
+            right_state > math.radians(30),
+        ]
+        current_visibility = self.light_scopes[0].get_visibility()
+        if any(doors_open) and not current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(True)
+        elif not any(doors_open) and current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(False)
+
+    def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
+            joint_state = positions[idx]
+            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
+            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
+    def calculate_stiffness(self, joint_state, joint_idx):
+        max_stiffness = 20
+        min_stiffness = 2
+        decay_rate = 3
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        joint_name = self.joint_names[joint_idx]
+        threshold = self.joint_threshold * (
+            self.joints_info[joint_name]["upper_limit"] + self.joints_info[joint_name]["lower_limit"]
+        )
+
+        if abs(joint_state_scalar) >= abs(math.radians(threshold)):
+            return min_stiffness
+
+        if self.use_torch and isinstance(joint_state, torch.Tensor):
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=joint_state.device))
+            return float(max(min_stiffness, min(stiffness.item(), max_stiffness)))
+        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+        return max(min_stiffness, min(stiffness, max_stiffness))
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = self._get_scalar_value(positions[idx])
+            joint_name = self.joint_names[i]
+            lower_limit = self.joints_info[joint_name]["lower_limit"]
+            upper_limit = self.joints_info[joint_name]["upper_limit"]
+            threshold = self.joint_threshold * (upper_limit + lower_limit)
+
+            if abs(lower_limit) <= math.radians(abs(upper_limit)):
+                if joint_state > math.radians(threshold):
+                    targets.append(math.radians(upper_limit))
+                else:
+                    targets.append(math.radians(lower_limit))
+            else:
+                if joint_state < math.radians(threshold):
+                    targets.append(math.radians(lower_limit))
+                else:
+                    targets.append(math.radians(upper_limit))
+            indices.append(idx)
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            print(f"Physics not ready yet, will retry: {e}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/major_appliances/refrigerator/fridge_3/model_fridge_3.usda b/Articulated_objects/major_appliances/refrigerator/fridge_3/model_fridge_3.usda
index 1fb424f164c97ccd4ae0eb056eeb9cb5be327fb8..d2f11a1017471acca25ad9136c57ca1f4e1df41c 100644
--- a/Articulated_objects/major_appliances/refrigerator/fridge_3/model_fridge_3.usda
+++ b/Articulated_objects/major_appliances/refrigerator/fridge_3/model_fridge_3.usda
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:93b1c6e1bc45ed24711799b64d6e9cc5775c256531b1aba7b8ececd2d26ac36a
-size 91519733
+oid sha256:f7b309677a2fad8c7044672a119019299aeee0912cd2a8272f6dcc16979c0c84
+size 91522678
diff --git a/Articulated_objects/major_appliances/refrigerator/fridge_3/resource/cupboard_control.py b/Articulated_objects/major_appliances/refrigerator/fridge_3/resource/cupboard_control.py
deleted file mode 100644
index 68879c485b510cd0faaa3d376c456e76a61eb3a9..0000000000000000000000000000000000000000
--- a/Articulated_objects/major_appliances/refrigerator/fridge_3/resource/cupboard_control.py
+++ /dev/null
@@ -1,241 +0,0 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-
-
-def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
-    stage = omni.usd.get_context().get_stage()
-    prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
-            result = _find_prim(child)
-            if result:
-                return result
-        return None
-    
-    found_path = _find_prim(prim)
-    if not found_path:
-        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
-    return found_path
-
-
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_8")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_fridge_3_down","RevoluteJoint_fridge_3_up"]
-joint_threshold = 0.3
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-light_scopes=[
-     XFormPrim(find_prim_path_by_name("fridge_3_light"))
-]
-
-class Fridge3Control(BehaviorScript):
-    def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
-
-    def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        # for light in light_scopes:
-        #     light.set_visibility(False)
-        light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
-    def apply_behavior(self):
-        self.light_control()
-        self.damping_stiffness_change()
-        self.target_pose_control()
-        
-        
-    def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
-        doors_open = [
-            self.left_joint_state > math.radians(30),
-            self.right_joint_state > math.radians(30)
-        ]
-
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
-        if any(doors_open):
-            if not current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(True)
-        else:
-            if current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                # self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
-    
-    def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
-        
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 20 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 2   # 最小刚度
-        decay_rate = 3   # 衰减率
-        # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
-            return min_stiffness
-        
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
-        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-        
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
-    def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            
-            # print("joint_state", joint_state)
-            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-            else:
-                if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))
diff --git a/Articulated_objects/major_appliances/refrigerator/fridge_3/resource/refrigherator_control.py b/Articulated_objects/major_appliances/refrigerator/fridge_3/resource/refrigherator_control.py
new file mode 100644
index 0000000000000000000000000000000000000000..a48eba3bd770d5a2968a15e53942d543b85c206b
--- /dev/null
+++ b/Articulated_objects/major_appliances/refrigerator/fridge_3/resource/refrigherator_control.py
@@ -0,0 +1,207 @@
+import carb
+import math
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from omni.isaac.core.prims import XFormPrim
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_8"]
+JOINT_NAMES = ["RevoluteJoint_fridge_3_down", "RevoluteJoint_fridge_3_up"]
+JOINT_THRESHOLD = 0.3
+LIGHT_PRIM_NAME = "fridge_3_light"
+
+
+class Fridge3Control(BehaviorScript):
+    def on_init(self):
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+
+        self.light_scopes = [XFormPrim(find_prim_path_by_name(LIGHT_PRIM_NAME))]
+        self.light_scopes[0].set_visibility(False)
+
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                "prim": joint,
+                "lower_limit": joint.GetLowerLimitAttr().Get(),
+                "upper_limit": joint.GetUpperLimitAttr().Get(),
+            }
+
+    def on_play(self):
+        self._initialize_articulation()
+
+    def on_stop(self):
+        self.light_scopes[0].set_visibility(False)
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
+    def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
+        self.light_control()
+        self.damping_stiffness_change()
+        self.target_pose_control()
+
+    def light_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        left_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        right_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
+        doors_open = [
+            left_state > math.radians(30),
+            right_state > math.radians(30),
+        ]
+        current_visibility = self.light_scopes[0].get_visibility()
+        if any(doors_open) and not current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(True)
+        elif not any(doors_open) and current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(False)
+
+    def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
+            joint_state = positions[idx]
+            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
+            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
+    def calculate_stiffness(self, joint_state, joint_idx):
+        max_stiffness = 20
+        min_stiffness = 2
+        decay_rate = 3
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        joint_name = self.joint_names[joint_idx]
+        threshold = self.joint_threshold * (
+            self.joints_info[joint_name]["upper_limit"] + self.joints_info[joint_name]["lower_limit"]
+        )
+
+        if abs(joint_state_scalar) >= abs(math.radians(threshold)):
+            return min_stiffness
+
+        if self.use_torch and isinstance(joint_state, torch.Tensor):
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=joint_state.device))
+            return float(max(min_stiffness, min(stiffness.item(), max_stiffness)))
+        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+        return max(min_stiffness, min(stiffness, max_stiffness))
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = self._get_scalar_value(positions[idx])
+            joint_name = self.joint_names[i]
+            lower_limit = self.joints_info[joint_name]["lower_limit"]
+            upper_limit = self.joints_info[joint_name]["upper_limit"]
+            threshold = self.joint_threshold * (upper_limit + lower_limit)
+
+            if abs(lower_limit) <= math.radians(abs(upper_limit)):
+                if joint_state > math.radians(threshold):
+                    targets.append(math.radians(upper_limit))
+                else:
+                    targets.append(math.radians(lower_limit))
+            else:
+                if joint_state < math.radians(threshold):
+                    targets.append(math.radians(lower_limit))
+                else:
+                    targets.append(math.radians(upper_limit))
+            indices.append(idx)
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            print(f"Physics not ready yet, will retry: {e}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/major_appliances/refrigerator/fridge_4/model_fridge_4.usd b/Articulated_objects/major_appliances/refrigerator/fridge_4/model_fridge_4.usd
index e826846e000f480b5abdfb10f5a2019adf66aa74..2ed50aef41888d44e5b7eb0633a7138a591967b9 100644
--- a/Articulated_objects/major_appliances/refrigerator/fridge_4/model_fridge_4.usd
+++ b/Articulated_objects/major_appliances/refrigerator/fridge_4/model_fridge_4.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:98623589768523bf5c79e53ab6af4217d570acd2e210954b6573f4b723d00497
-size 17434297
+oid sha256:3715121c97d0f9e5867bf6be43a5b677f8e98d1c57f6d30563eaa6a99ba55cf4
+size 17438335
diff --git a/Articulated_objects/major_appliances/refrigerator/fridge_4/resource/cupboard_control.py b/Articulated_objects/major_appliances/refrigerator/fridge_4/resource/refrigherator_control.py
similarity index 100%
rename from Articulated_objects/major_appliances/refrigerator/fridge_4/resource/cupboard_control.py
rename to Articulated_objects/major_appliances/refrigerator/fridge_4/resource/refrigherator_control.py
diff --git a/Articulated_objects/major_appliances/refrigerator/refrigerator_1/model_refrigerator_1.usd b/Articulated_objects/major_appliances/refrigerator/refrigerator_1/model_refrigerator_1.usd
index 077633877d8ba66be5e4e025c1a2bc6badc6b668..1cf1f09a5e32b798bf02d95c468bf23b61eda05b 100644
--- a/Articulated_objects/major_appliances/refrigerator/refrigerator_1/model_refrigerator_1.usd
+++ b/Articulated_objects/major_appliances/refrigerator/refrigerator_1/model_refrigerator_1.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:64d1ffaf6fbab75278779c78d8dc64269920095a31b793705be878c4a3a96e8d
-size 4025705
+oid sha256:f02a7ffd12b5a25c13f50e104240eaa0ad031dea4e2b55a7fd27416ccba4dc19
+size 4030632
diff --git a/Articulated_objects/major_appliances/refrigerator/refrigerator_1/resource/cupboard_control.py b/Articulated_objects/major_appliances/refrigerator/refrigerator_1/resource/cupboard_control.py
deleted file mode 100644
index e8974ade8413aa0324638edeb0a272466f2df619..0000000000000000000000000000000000000000
--- a/Articulated_objects/major_appliances/refrigerator/refrigerator_1/resource/cupboard_control.py
+++ /dev/null
@@ -1,241 +0,0 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-
-
-def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
-    stage = omni.usd.get_context().get_stage()
-    prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
-            result = _find_prim(child)
-            if result:
-                return result
-        return None
-    
-    found_path = _find_prim(prim)
-    if not found_path:
-        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
-    return found_path
-
-
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_16")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_refrigerator_left1","RevoluteJoint_refrigerator_right1","RevoluteJoint_refrigerator_left2","RevoluteJoint_refrigerator_right2"]
-joint_threshold = 0.3
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-light_scopes=[
-     XFormPrim(find_prim_path_by_name("refrigerator_1_light"))
-]
-
-class Fridge4Control(BehaviorScript):
-    def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
-
-    def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        # for light in light_scopes:
-        #     light.set_visibility(False)
-        light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
-    def apply_behavior(self):
-        self.light_control()
-        self.damping_stiffness_change()
-        self.target_pose_control()
-        
-        
-    def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
-        doors_open = [
-            self.left_joint_state > math.radians(30),
-            self.right_joint_state > math.radians(30)
-        ]
-
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
-        if any(doors_open):
-            if not current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(True)
-        else:
-            if current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                # self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
-    
-    def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
-        
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 20 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 2   # 最小刚度
-        decay_rate = 3   # 衰减率
-        # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
-            return min_stiffness
-        
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
-        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-        
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
-    def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            
-            # print("joint_state", joint_state)
-            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-            else:
-                if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))
diff --git a/Articulated_objects/major_appliances/refrigerator/refrigerator_1/resource/refrigherator_control.py b/Articulated_objects/major_appliances/refrigerator/refrigerator_1/resource/refrigherator_control.py
new file mode 100644
index 0000000000000000000000000000000000000000..420e6e7b958b41a2a574d24de95313a7bb830c61
--- /dev/null
+++ b/Articulated_objects/major_appliances/refrigerator/refrigerator_1/resource/refrigherator_control.py
@@ -0,0 +1,213 @@
+import carb
+import math
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from omni.isaac.core.prims import XFormPrim
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+
+
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_16"]
+JOINT_NAMES = [
+    "RevoluteJoint_refrigerator_left1",
+    "RevoluteJoint_refrigerator_right1",
+    "RevoluteJoint_refrigerator_left2",
+    "RevoluteJoint_refrigerator_right2",
+]
+JOINT_THRESHOLD = 0.3
+LIGHT_PRIM_NAME = "refrigerator_1_light"
+
+
+class Fridge4Control(BehaviorScript):
+    def on_init(self):
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+
+        self.light_scopes = [XFormPrim(find_prim_path_by_name(LIGHT_PRIM_NAME))]
+        self.light_scopes[0].set_visibility(False)
+
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                "prim": joint,
+                "lower_limit": joint.GetLowerLimitAttr().Get(),
+                "upper_limit": joint.GetUpperLimitAttr().Get(),
+            }
+
+    def on_play(self):
+        self._initialize_articulation()
+
+    def on_stop(self):
+        self.light_scopes[0].set_visibility(False)
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
+    def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
+        self.light_control()
+        self.damping_stiffness_change()
+        self.target_pose_control()
+
+    def light_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        left_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        right_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
+        doors_open = [
+            left_state > math.radians(30),
+            right_state > math.radians(30),
+        ]
+        current_visibility = self.light_scopes[0].get_visibility()
+        if any(doors_open) and not current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(True)
+        elif not any(doors_open) and current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(False)
+
+    def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
+            joint_state = positions[idx]
+            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
+            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
+    def calculate_stiffness(self, joint_state, joint_idx):
+        max_stiffness = 20
+        min_stiffness = 2
+        decay_rate = 3
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        joint_name = self.joint_names[joint_idx]
+        threshold = self.joint_threshold * (
+            self.joints_info[joint_name]["upper_limit"] + self.joints_info[joint_name]["lower_limit"]
+        )
+
+        if abs(joint_state_scalar) >= abs(math.radians(threshold)):
+            return min_stiffness
+
+        if self.use_torch and isinstance(joint_state, torch.Tensor):
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=joint_state.device))
+            return float(max(min_stiffness, min(stiffness.item(), max_stiffness)))
+        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+        return max(min_stiffness, min(stiffness, max_stiffness))
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = self._get_scalar_value(positions[idx])
+            joint_name = self.joint_names[i]
+            lower_limit = self.joints_info[joint_name]["lower_limit"]
+            upper_limit = self.joints_info[joint_name]["upper_limit"]
+            threshold = self.joint_threshold * (upper_limit + lower_limit)
+
+            if abs(lower_limit) <= math.radians(abs(upper_limit)):
+                if joint_state > math.radians(threshold):
+                    targets.append(math.radians(upper_limit))
+                else:
+                    targets.append(math.radians(lower_limit))
+            else:
+                if joint_state < math.radians(threshold):
+                    targets.append(math.radians(lower_limit))
+                else:
+                    targets.append(math.radians(upper_limit))
+            indices.append(idx)
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            print(f"Physics not ready yet, will retry: {e}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/major_appliances/refrigerator/refrigerator_6/model_refrigerator_6.usd b/Articulated_objects/major_appliances/refrigerator/refrigerator_6/model_refrigerator_6.usd
index 4a1fe537ea0a248ef34cad7c6fed503ea9470fed..0c19589d0de0bd3ee9d7496d9f5e9c749fd7eaa9 100644
--- a/Articulated_objects/major_appliances/refrigerator/refrigerator_6/model_refrigerator_6.usd
+++ b/Articulated_objects/major_appliances/refrigerator/refrigerator_6/model_refrigerator_6.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:123dba06477614436b4e44b1345cb753959758e479b44eeb3e1ab7cea20ec28b
-size 6272160
+oid sha256:a6fe905b05115fb7ed75291a9b1eead39f9383fc96e44c6e3e7b7d80f313399a
+size 6278881
diff --git a/Articulated_objects/major_appliances/refrigerator/refrigerator_6/resource/cupboard_control.py b/Articulated_objects/major_appliances/refrigerator/refrigerator_6/resource/cupboard_control.py
deleted file mode 100644
index 4b39603e981f755694b70ed9653b1c0685d32759..0000000000000000000000000000000000000000
--- a/Articulated_objects/major_appliances/refrigerator/refrigerator_6/resource/cupboard_control.py
+++ /dev/null
@@ -1,241 +0,0 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-
-
-def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
-    stage = omni.usd.get_context().get_stage()
-    prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
-            result = _find_prim(child)
-            if result:
-                return result
-        return None
-    
-    found_path = _find_prim(prim)
-    if not found_path:
-        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
-    return found_path
-
-
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_15")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_refrigerator_6_right","RevoluteJoint_refrigerator_6_left"]
-joint_threshold = 0.3
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-light_scopes=[
-     XFormPrim(find_prim_path_by_name("refrigerator_6_light"))
-]
-
-class Fridge6Control(BehaviorScript):
-    def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
-
-    def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        # for light in light_scopes:
-        #     light.set_visibility(False)
-        light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
-    def apply_behavior(self):
-        self.light_control()
-        self.damping_stiffness_change()
-        self.target_pose_control()
-        
-        
-    def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
-        doors_open = [
-            self.left_joint_state > math.radians(30),
-            self.right_joint_state > math.radians(30)
-        ]
-
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
-        if any(doors_open):
-            if not current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(True)
-        else:
-            if current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                # self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
-    
-    def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
-        
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 20 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 2   # 最小刚度
-        decay_rate = 3   # 衰减率
-        # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
-            return min_stiffness
-        
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
-        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-        
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
-    def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            
-            # print("joint_state", joint_state)
-            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-            else:
-                if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))
diff --git a/Articulated_objects/major_appliances/refrigerator/refrigerator_6/resource/refrigherator_control.py b/Articulated_objects/major_appliances/refrigerator/refrigerator_6/resource/refrigherator_control.py
new file mode 100644
index 0000000000000000000000000000000000000000..7dd9031486781e40a28a520e29a413d0aec84965
--- /dev/null
+++ b/Articulated_objects/major_appliances/refrigerator/refrigerator_6/resource/refrigherator_control.py
@@ -0,0 +1,207 @@
+import carb
+import math
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from omni.isaac.core.prims import XFormPrim
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_15"]
+JOINT_NAMES = ["RevoluteJoint_refrigerator_6_right", "RevoluteJoint_refrigerator_6_left"]
+JOINT_THRESHOLD = 0.3
+LIGHT_PRIM_NAME = "refrigerator_6_light"
+
+
+class Fridge6Control(BehaviorScript):
+    def on_init(self):
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+
+        self.light_scopes = [XFormPrim(find_prim_path_by_name(LIGHT_PRIM_NAME))]
+        self.light_scopes[0].set_visibility(False)
+
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                "prim": joint,
+                "lower_limit": joint.GetLowerLimitAttr().Get(),
+                "upper_limit": joint.GetUpperLimitAttr().Get(),
+            }
+
+    def on_play(self):
+        self._initialize_articulation()
+
+    def on_stop(self):
+        self.light_scopes[0].set_visibility(False)
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
+    def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
+        self.light_control()
+        self.damping_stiffness_change()
+        self.target_pose_control()
+
+    def light_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        left_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        right_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
+        doors_open = [
+            left_state > math.radians(30),
+            right_state > math.radians(30),
+        ]
+        current_visibility = self.light_scopes[0].get_visibility()
+        if any(doors_open) and not current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(True)
+        elif not any(doors_open) and current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(False)
+
+    def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
+            joint_state = positions[idx]
+            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
+            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
+    def calculate_stiffness(self, joint_state, joint_idx):
+        max_stiffness = 20
+        min_stiffness = 2
+        decay_rate = 3
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        joint_name = self.joint_names[joint_idx]
+        threshold = self.joint_threshold * (
+            self.joints_info[joint_name]["upper_limit"] + self.joints_info[joint_name]["lower_limit"]
+        )
+
+        if abs(joint_state_scalar) >= abs(math.radians(threshold)):
+            return min_stiffness
+
+        if self.use_torch and isinstance(joint_state, torch.Tensor):
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=joint_state.device))
+            return float(max(min_stiffness, min(stiffness.item(), max_stiffness)))
+        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+        return max(min_stiffness, min(stiffness, max_stiffness))
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = self._get_scalar_value(positions[idx])
+            joint_name = self.joint_names[i]
+            lower_limit = self.joints_info[joint_name]["lower_limit"]
+            upper_limit = self.joints_info[joint_name]["upper_limit"]
+            threshold = self.joint_threshold * (upper_limit + lower_limit)
+
+            if abs(lower_limit) <= math.radians(abs(upper_limit)):
+                if joint_state > math.radians(threshold):
+                    targets.append(math.radians(upper_limit))
+                else:
+                    targets.append(math.radians(lower_limit))
+            else:
+                if joint_state < math.radians(threshold):
+                    targets.append(math.radians(lower_limit))
+                else:
+                    targets.append(math.radians(upper_limit))
+            indices.append(idx)
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            print(f"Physics not ready yet, will retry: {e}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/major_appliances/refrigerator/refrigerator_7/model_refrigerator_7.usd b/Articulated_objects/major_appliances/refrigerator/refrigerator_7/model_refrigerator_7.usd
index 08aab94a691ea7e6227ebf7967467624e962f8e7..102599abf2e1332f05471c23379b029e1875968c 100644
--- a/Articulated_objects/major_appliances/refrigerator/refrigerator_7/model_refrigerator_7.usd
+++ b/Articulated_objects/major_appliances/refrigerator/refrigerator_7/model_refrigerator_7.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:26f3b109b64429b7eab29d5f30b9c1561cb164e005109a5fb4f628c0813d6c08
-size 5631301
+oid sha256:1ee306d3fea913204e714f4860ba7544c5b766d2bf4aa50450fa18c46d813ba9
+size 5635431
diff --git a/Articulated_objects/major_appliances/refrigerator/refrigerator_7/resource/cupboard_control.py b/Articulated_objects/major_appliances/refrigerator/refrigerator_7/resource/cupboard_control.py
deleted file mode 100644
index 3b7ac67f289c8eecdb1bac37c39208709216a298..0000000000000000000000000000000000000000
--- a/Articulated_objects/major_appliances/refrigerator/refrigerator_7/resource/cupboard_control.py
+++ /dev/null
@@ -1,241 +0,0 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-
-
-def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
-    stage = omni.usd.get_context().get_stage()
-    prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
-            result = _find_prim(child)
-            if result:
-                return result
-        return None
-    
-    found_path = _find_prim(prim)
-    if not found_path:
-        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
-    return found_path
-
-
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_9")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_refrigerator_7_right","RevoluteJoint_refrigerator_7_left"]
-joint_threshold = 0.3
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-light_scopes=[
-     XFormPrim(find_prim_path_by_name("refrigerator_7_light"))
-]
-
-class Fridge7Control(BehaviorScript):
-    def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
-
-    def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        # for light in light_scopes:
-        #     light.set_visibility(False)
-        light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
-    def apply_behavior(self):
-        self.light_control()
-        self.damping_stiffness_change()
-        self.target_pose_control()
-        
-        
-    def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
-        doors_open = [
-            self.left_joint_state > math.radians(30),
-            self.right_joint_state > math.radians(30)
-        ]
-
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
-        if any(doors_open):
-            if not current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(True)
-        else:
-            if current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                # self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
-    
-    def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
-        
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 20 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 2   # 最小刚度
-        decay_rate = 3   # 衰减率
-        # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
-            return min_stiffness
-        
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
-        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-        
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
-    def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            
-            # print("joint_state", joint_state)
-            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-            else:
-                if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))
diff --git a/Articulated_objects/major_appliances/refrigerator/refrigerator_7/resource/refrigherator_control.py b/Articulated_objects/major_appliances/refrigerator/refrigerator_7/resource/refrigherator_control.py
new file mode 100644
index 0000000000000000000000000000000000000000..c41dcc2e6580007cc0d5384c9ca300444addfd0d
--- /dev/null
+++ b/Articulated_objects/major_appliances/refrigerator/refrigerator_7/resource/refrigherator_control.py
@@ -0,0 +1,207 @@
+import carb
+import math
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from omni.isaac.core.prims import XFormPrim
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_9"]
+JOINT_NAMES = ["RevoluteJoint_refrigerator_7_right", "RevoluteJoint_refrigerator_7_left"]
+JOINT_THRESHOLD = 0.3
+LIGHT_PRIM_NAME = "refrigerator_7_light"
+
+
+class Fridge7Control(BehaviorScript):
+    def on_init(self):
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+
+        self.light_scopes = [XFormPrim(find_prim_path_by_name(LIGHT_PRIM_NAME))]
+        self.light_scopes[0].set_visibility(False)
+
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                "prim": joint,
+                "lower_limit": joint.GetLowerLimitAttr().Get(),
+                "upper_limit": joint.GetUpperLimitAttr().Get(),
+            }
+
+    def on_play(self):
+        self._initialize_articulation()
+
+    def on_stop(self):
+        self.light_scopes[0].set_visibility(False)
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
+    def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
+        self.light_control()
+        self.damping_stiffness_change()
+        self.target_pose_control()
+
+    def light_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        left_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        right_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
+        doors_open = [
+            left_state > math.radians(30),
+            right_state > math.radians(30),
+        ]
+        current_visibility = self.light_scopes[0].get_visibility()
+        if any(doors_open) and not current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(True)
+        elif not any(doors_open) and current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(False)
+
+    def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
+            joint_state = positions[idx]
+            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
+            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
+    def calculate_stiffness(self, joint_state, joint_idx):
+        max_stiffness = 20
+        min_stiffness = 2
+        decay_rate = 3
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        joint_name = self.joint_names[joint_idx]
+        threshold = self.joint_threshold * (
+            self.joints_info[joint_name]["upper_limit"] + self.joints_info[joint_name]["lower_limit"]
+        )
+
+        if abs(joint_state_scalar) >= abs(math.radians(threshold)):
+            return min_stiffness
+
+        if self.use_torch and isinstance(joint_state, torch.Tensor):
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=joint_state.device))
+            return float(max(min_stiffness, min(stiffness.item(), max_stiffness)))
+        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+        return max(min_stiffness, min(stiffness, max_stiffness))
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = self._get_scalar_value(positions[idx])
+            joint_name = self.joint_names[i]
+            lower_limit = self.joints_info[joint_name]["lower_limit"]
+            upper_limit = self.joints_info[joint_name]["upper_limit"]
+            threshold = self.joint_threshold * (upper_limit + lower_limit)
+
+            if abs(lower_limit) <= math.radians(abs(upper_limit)):
+                if joint_state > math.radians(threshold):
+                    targets.append(math.radians(upper_limit))
+                else:
+                    targets.append(math.radians(lower_limit))
+            else:
+                if joint_state < math.radians(threshold):
+                    targets.append(math.radians(lower_limit))
+                else:
+                    targets.append(math.radians(upper_limit))
+            indices.append(idx)
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            print(f"Physics not ready yet, will retry: {e}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/major_appliances/refrigerator/refrigerator_8/model_refrigerator_8.usd b/Articulated_objects/major_appliances/refrigerator/refrigerator_8/model_refrigerator_8.usd
index 6db52fbfc1ec32aaf6d59d381f652d41274dc2d8..5a4e4e741010e8a3d09aaac111b8f9a3ea19249f 100644
--- a/Articulated_objects/major_appliances/refrigerator/refrigerator_8/model_refrigerator_8.usd
+++ b/Articulated_objects/major_appliances/refrigerator/refrigerator_8/model_refrigerator_8.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b468b55907e2bd7ac3849b59dbb49b5ca6b8a82bee23f2b6ef7c48143cc6f4af
-size 5126822
+oid sha256:71459da466ff34f521ec00ed7a41e7ecb84860f1a5f09208bd8d975c867db716
+size 5131083
diff --git a/Articulated_objects/major_appliances/refrigerator/refrigerator_8/resource/cupboard_control.py b/Articulated_objects/major_appliances/refrigerator/refrigerator_8/resource/cupboard_control.py
deleted file mode 100644
index 85a1dc25e72b7ef36ebdd8a86ccf6097ec61ca1e..0000000000000000000000000000000000000000
--- a/Articulated_objects/major_appliances/refrigerator/refrigerator_8/resource/cupboard_control.py
+++ /dev/null
@@ -1,241 +0,0 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-
-
-def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
-    stage = omni.usd.get_context().get_stage()
-    prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
-            result = _find_prim(child)
-            if result:
-                return result
-        return None
-    
-    found_path = _find_prim(prim)
-    if not found_path:
-        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
-    return found_path
-
-
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_13")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_refrigerator_8_right","RevoluteJoint_refrigerator_8_left"]
-joint_threshold = 0.3
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-light_scopes=[
-     XFormPrim(find_prim_path_by_name("refrigerator_8_light"))
-]
-
-class Fridge7Control(BehaviorScript):
-    def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
-
-    def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        # for light in light_scopes:
-        #     light.set_visibility(False)
-        light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
-    def apply_behavior(self):
-        self.light_control()
-        self.damping_stiffness_change()
-        self.target_pose_control()
-        
-        
-    def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
-        doors_open = [
-            self.left_joint_state > math.radians(30),
-            self.right_joint_state > math.radians(30)
-        ]
-
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
-        if any(doors_open):
-            if not current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(True)
-        else:
-            if current_visibility:
-                for light in light_scopes:
-                    light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                # self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
-    
-    def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
-        
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 20 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 2   # 最小刚度
-        decay_rate = 3   # 衰减率
-        # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
-            return min_stiffness
-        
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
-        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-        
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
-    def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            
-            # print("joint_state", joint_state)
-            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-            else:
-                if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
-                else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))
diff --git a/Articulated_objects/major_appliances/refrigerator/refrigerator_8/resource/refrigherator_control.py b/Articulated_objects/major_appliances/refrigerator/refrigerator_8/resource/refrigherator_control.py
new file mode 100644
index 0000000000000000000000000000000000000000..e1b634f78595b96b180130486badf0a11d5170c3
--- /dev/null
+++ b/Articulated_objects/major_appliances/refrigerator/refrigerator_8/resource/refrigherator_control.py
@@ -0,0 +1,207 @@
+import carb
+import math
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from omni.isaac.core.prims import XFormPrim
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_13"]
+JOINT_NAMES = ["RevoluteJoint_refrigerator_8_right", "RevoluteJoint_refrigerator_8_left"]
+JOINT_THRESHOLD = 0.3
+LIGHT_PRIM_NAME = "refrigerator_8_light"
+
+
+class Fridge7Control(BehaviorScript):
+    def on_init(self):
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+
+        self.light_scopes = [XFormPrim(find_prim_path_by_name(LIGHT_PRIM_NAME))]
+        self.light_scopes[0].set_visibility(False)
+
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                "prim": joint,
+                "lower_limit": joint.GetLowerLimitAttr().Get(),
+                "upper_limit": joint.GetUpperLimitAttr().Get(),
+            }
+
+    def on_play(self):
+        self._initialize_articulation()
+
+    def on_stop(self):
+        self.light_scopes[0].set_visibility(False)
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
+    def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
+        self.light_control()
+        self.damping_stiffness_change()
+        self.target_pose_control()
+
+    def light_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        left_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        right_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
+        doors_open = [
+            left_state > math.radians(30),
+            right_state > math.radians(30),
+        ]
+        current_visibility = self.light_scopes[0].get_visibility()
+        if any(doors_open) and not current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(True)
+        elif not any(doors_open) and current_visibility:
+            for light in self.light_scopes:
+                light.set_visibility(False)
+
+    def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
+            joint_state = positions[idx]
+            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
+            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
+    def calculate_stiffness(self, joint_state, joint_idx):
+        max_stiffness = 20
+        min_stiffness = 2
+        decay_rate = 3
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        joint_name = self.joint_names[joint_idx]
+        threshold = self.joint_threshold * (
+            self.joints_info[joint_name]["upper_limit"] + self.joints_info[joint_name]["lower_limit"]
+        )
+
+        if abs(joint_state_scalar) >= abs(math.radians(threshold)):
+            return min_stiffness
+
+        if self.use_torch and isinstance(joint_state, torch.Tensor):
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=joint_state.device))
+            return float(max(min_stiffness, min(stiffness.item(), max_stiffness)))
+        stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+        return max(min_stiffness, min(stiffness, max_stiffness))
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = self._get_scalar_value(positions[idx])
+            joint_name = self.joint_names[i]
+            lower_limit = self.joints_info[joint_name]["lower_limit"]
+            upper_limit = self.joints_info[joint_name]["upper_limit"]
+            threshold = self.joint_threshold * (upper_limit + lower_limit)
+
+            if abs(lower_limit) <= math.radians(abs(upper_limit)):
+                if joint_state > math.radians(threshold):
+                    targets.append(math.radians(upper_limit))
+                else:
+                    targets.append(math.radians(lower_limit))
+            else:
+                if joint_state < math.radians(threshold):
+                    targets.append(math.radians(lower_limit))
+                else:
+                    targets.append(math.radians(upper_limit))
+            indices.append(idx)
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            print(f"Physics not ready yet, will retry: {e}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/small_appliances/microwave/microwave_1/model_microwave_1.usd b/Articulated_objects/small_appliances/microwave/microwave_1/model_microwave_1.usd
index 40e81466d80a5a9ef8fc86f8af8564cbf58da7af..349ec1a6f0a5cf88f335bc03f0c8d5f951a57e8f 100644
--- a/Articulated_objects/small_appliances/microwave/microwave_1/model_microwave_1.usd
+++ b/Articulated_objects/small_appliances/microwave/microwave_1/model_microwave_1.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fcae691f3a83c457ade0d7b63909739c1f9e9ca19c0f3b37a86d9b94582c8c76
-size 24540
+oid sha256:ebf25865c2f3130f9869913ccc5c577355895dac4e7ab526e5b1c2d9fdf991b9
+size 28263
diff --git a/Articulated_objects/small_appliances/microwave/microwave_1/resource/oven_control.py b/Articulated_objects/small_appliances/microwave/microwave_1/resource/oven_control.py
index d5506a0789e00d4b028d87710591ab254d3d1c6b..aa4864b299ee26783919907eca7b832d0cc523c3 100644
--- a/Articulated_objects/small_appliances/microwave/microwave_1/resource/oven_control.py
+++ b/Articulated_objects/small_appliances/microwave/microwave_1/resource/oven_control.py
@@ -1,195 +1,200 @@
 import carb
+import math
+import torch
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from omni.isaac.core import SimulationContext
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-from omni.isaac.core import SimulationContext, World
-# from isaacsim.core.prims import XFormPrim
-# stiffness :0.8 Damping: 0.05
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-# # 1. prim init
-# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
-# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
-# # 2. articulation Root prim
-# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
-# # 3. joint name 
-# joint_names = ["PrismaticJoint", "RevoluteJoint"]
-# # 4. joint num
-# num_arm_dof = 2
-
-# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
-#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
-#             ]
-# for i in range(0, light_scopes.__len__()):
-#     light_scopes[i].set_visibility(False)
-# index = random.randint(0, len(light_scopes)-1)
-# light_scopes[index].set_visibility(True)
+
 button_prim = XFormPrim(find_prim_path_by_name("E_switch_11"))
 print("button_prim", button_prim.prim_path)
-# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
-# print("door_prim", door_prim.prim_path)
 root_articulation_prim = find_prim_path_by_name("E_body_12")
 print("root_articulation_prim", root_articulation_prim)
-joint_names = ["PrismaticJoint_microwave_1_down", "RevoluteJoint_microwave_1_left"]
-light_scopes=[XFormPrim(find_prim_path_by_name("light"))
-            ]
+light_scopes = [XFormPrim(find_prim_path_by_name("light"))]
 revolutejoint_path = find_prim_path_by_name("RevoluteJoint_microwave_1_left")
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_12"]
+JOINT_NAMES = [
+    "PrismaticJoint_microwave_1_down",
+    "RevoluteJoint_microwave_1_left",
+]
+BUTTON_PRESS_THRESHOLD = 0.003
+BUTTON_PRESS_MODE = "greater"
 
 
 class MicrowaveOverControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False) 
-        self.Stiffness_max = 0.8
-        self.Stiffness_min = 0.08
-        
-        # 初始化门的锁定状态
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.use_torch = None
+
+        self.light_scopes = light_scopes
+        self.light_scopes[0].set_visibility(False)
+        self.Stiffness_max = 10
+        self.Stiffness_min = 1
         self.door_locked = True
-        
-        # init_pose
+        self.button_target = None
+        self.door_target = None
+        self.button_press_threshold = BUTTON_PRESS_THRESHOLD
+        self.button_press_mode = BUTTON_PRESS_MODE
+
         self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
+
         stage = omni.usd.get_context().get_stage()
         self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
         self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
-   
-   
-    def on_destroy(self):
-        pass
 
     def on_play(self):
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
 
-
-    def on_pause(self):
-        pass
-
     def on_stop(self):
-        self.init_start=True
-        light_scopes[0].set_visibility(False) 
-        # back to initial pose
-        # button_prim.set_local_pose(translation=self.local_pose_button)
-        # door_prim.set_local_pose(translation=self.local_pose_door)
+        self.light_scopes[0].set_visibility(False)
         self.door_locked = True
+        self.button_target = None
+        self.door_target = None
         carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
-        pass
+        if self.revoluteJoint_drive:
+            self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.dc = _dynamic_control.acquire_dynamic_control_interface()
-        self.active_art() 
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-        # print("self.joint_handles",self.joint_handles)
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
-        self.oven_control()
-    
-    # def oven_control(self):
-    #     self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-    #     self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-    #     # print("self.Joint0_state", self.Joint0_state)
-    #     # print("self.Joint1_state", self.Joint1_state)
-    #     # 按钮被按下且门处于锁定状态
-    #     if self.Joint0_state < -0.001 and self.door_locked:
-    #         self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-90))
-    #         # if self.Joint1_state > math.radians(100):
-    #         #     self.door_locked = False  # 解除锁定
-        
-    #         # 门开到30度后开灯，按钮归位s
-    #         if self.Joint1_state < math.radians(-30) :
-    #             self.door_locked = False  # 解除锁定
-    #             light_scopes[0].set_visibility(True)
-    #             self.dc.set_dof_position_target(self.joint_handles[0], 0)
-        
-    #     # 检测手动关门
-    #     if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
-            
-    #         self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
-    #         self.door_locked = True
-    #         if self.Joint1_state < math.radians(5):  # 当门完全关闭时
-    #             # 锁定门
-    #             self.door_locked = True
-    #             light_scopes[0].set_visibility(False)  # 关闭灯
-    def oven_control(self):
-
-        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint0_state", self.Joint0_state)
-        # print("self.Joint1_state", self.Joint1_state)
-        # 按钮被按下且门处于锁定状态
-        if self.Joint0_state > 0.003 and self.door_locked:
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-50))
-            # if self.Joint1_state > math.radians(100):
-            #     self.door_locked = False  # 解除锁定
-        
-            # 门开到30度后开灯，按钮归位s
-            if self.Joint1_state < math.radians(-30) :
-                self.door_locked = False  # 解除锁定
-                light_scopes[0].set_visibility(True)
-                self.dc.set_dof_position_target(self.joint_handles[0], 0)
-                
-        if abs(self.Joint1_state - math.radians(-50)) < math.radians(0.5) :
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-78))
-            self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
-                
-        
-        # 检测手动关门
-        if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
-            
-            self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
-            self.door_locked = True
-            if self.Joint1_state < math.radians(5):  # 当门完全关闭时
-                # 锁定门
+        if not self.initialized or self.art is None:
+            return
+        self._control_door()
+
+    def _control_door(self):
+        positions = self.art.get_joint_positions().squeeze()
+        button_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        door_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
+        if self.button_target is None:
+            self.button_target = button_state
+        if self.door_target is None:
+            self.door_target = door_state
+
+        if self._button_pressed(button_state) and self.door_locked:
+            print("button_pressed And open door")
+            self.door_target = math.radians(-50)
+            if door_state < math.radians(-30):
+                self.door_locked = False
+                self.light_scopes[0].set_visibility(True)
+                self.button_target = 0.0
+
+        if abs(door_state - math.radians(-50)) < math.radians(0.5):
+            self.door_target = math.radians(-78)
+            if self.revoluteJoint_drive:
+                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
+
+        if door_state > math.radians(-20) and not self.door_locked:
+            print("locked door")
+            self.door_target = 0.0
+            if door_state < math.radians(5):
                 self.door_locked = True
-                light_scopes[0].set_visibility(False)  # 关闭灯
-                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
+                self.button_target = 0.0
+                self.light_scopes[0].set_visibility(False)
+                if self.revoluteJoint_drive:
+                    self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
+
+        targets = []
+        indices = []
+        if self.button_target is not None:
+            targets.append(self.button_target)
+            indices.append(self.joint_indices[0])
+        if self.door_target is not None:
+            targets.append(self.door_target)
+            indices.append(self.joint_indices[1])
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _button_pressed(self, value: float) -> bool:
+        if self.button_press_mode == "greater":
+            return value > self.button_press_threshold
+        return value < self.button_press_threshold
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+            return
diff --git a/Articulated_objects/small_appliances/microwave/microwave_2/model_microwave_2.usda b/Articulated_objects/small_appliances/microwave/microwave_2/model_microwave_2.usda
index f187362ec0c6722752daea3f5da0a189badb1af5..7c7c54b2a98da610f80b4958558fde324072e8ca 100644
--- a/Articulated_objects/small_appliances/microwave/microwave_2/model_microwave_2.usda
+++ b/Articulated_objects/small_appliances/microwave/microwave_2/model_microwave_2.usda
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2bf3d192add9d0cd7884abcf988b9557764f30543223d5861629a572bf787792
-size 421434
+oid sha256:8c0a91d0f23659540175b4b0c835776c9ac272a8a18b6786447fc50ed907028f
+size 424809
diff --git a/Articulated_objects/small_appliances/microwave/microwave_2/resource/oven_control.py b/Articulated_objects/small_appliances/microwave/microwave_2/resource/oven_control.py
index cec2ae6e5c6c9dd3f6d616d05be654412e31ae7e..f65c40f2d8f87d468f7692f189de02b36b8b2b2a 100644
--- a/Articulated_objects/small_appliances/microwave/microwave_2/resource/oven_control.py
+++ b/Articulated_objects/small_appliances/microwave/microwave_2/resource/oven_control.py
@@ -1,195 +1,198 @@
 import carb
+import math
+import torch
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from omni.isaac.core import SimulationContext
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-from omni.isaac.core import SimulationContext, World
-# from isaacsim.core.prims import XFormPrim
-# stiffness :0.8 Damping: 0.05
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-# # 1. prim init
-# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
-# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
-# # 2. articulation Root prim
-# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
-# # 3. joint name 
-# joint_names = ["PrismaticJoint", "RevoluteJoint"]
-# # 4. joint num
-# num_arm_dof = 2
-
-# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
-#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
-#             ]
-# for i in range(0, light_scopes.__len__()):
-#     light_scopes[i].set_visibility(False)
-# index = random.randint(0, len(light_scopes)-1)
-# light_scopes[index].set_visibility(True)
+
 button_prim = XFormPrim(find_prim_path_by_name("E_switch_10"))
 print("button_prim", button_prim.prim_path)
-# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
-# print("door_prim", door_prim.prim_path)
 root_articulation_prim = find_prim_path_by_name("E_body_3")
 print("root_articulation_prim", root_articulation_prim)
-joint_names = ["PrismaticJoint_microwave_2_left", "RevoluteJoint_microwave_2_left"]
-light_scopes=[XFormPrim(find_prim_path_by_name("light"))
-            ]
+light_scopes = [XFormPrim(find_prim_path_by_name("light"))]
 revolutejoint_path = find_prim_path_by_name("RevoluteJoint_microwave_2_left")
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_3"]
+JOINT_NAMES = [
+    "PrismaticJoint_microwave_2_left",
+    "RevoluteJoint_microwave_2_left",
+]
+BUTTON_PRESS_THRESHOLD = 0.001
+BUTTON_PRESS_MODE = "greater"
 
 
 class MicrowaveOverControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False) 
-        self.Stiffness_max = 0.8
-        self.Stiffness_min = 0.08
-        
-        # 初始化门的锁定状态
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.use_torch = None
+
+        self.light_scopes = light_scopes
+        self.light_scopes[0].set_visibility(False)
+        self.Stiffness_max = 8
+        self.Stiffness_min = 0.8
         self.door_locked = True
-        
-        # init_pose
+        self.button_target = None
+        self.door_target = None
+        self.button_press_threshold = BUTTON_PRESS_THRESHOLD
+        self.button_press_mode = BUTTON_PRESS_MODE
+
         self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
+
         stage = omni.usd.get_context().get_stage()
         self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
         self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
-   
-   
-    def on_destroy(self):
-        pass
 
     def on_play(self):
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
 
-
-    def on_pause(self):
-        pass
-
     def on_stop(self):
-        self.init_start=True
-        light_scopes[0].set_visibility(False) 
-        # back to initial pose
-        # button_prim.set_local_pose(translation=self.local_pose_button)
-        # door_prim.set_local_pose(translation=self.local_pose_door)
+        self.light_scopes[0].set_visibility(False)
         self.door_locked = True
+        self.button_target = None
+        self.door_target = None
+        if self.revoluteJoint_drive:
+            self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
         carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.dc = _dynamic_control.acquire_dynamic_control_interface()
-        self.active_art() 
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-        # print("self.joint_handles",self.joint_handles)
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
-        self.oven_control()
-    
-    # def oven_control(self):
-    #     self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-    #     self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-    #     # print("self.Joint0_state", self.Joint0_state)
-    #     # print("self.Joint1_state", self.Joint1_state)
-    #     # 按钮被按下且门处于锁定状态
-    #     if self.Joint0_state < -0.001 and self.door_locked:
-    #         self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-90))
-    #         # if self.Joint1_state > math.radians(100):
-    #         #     self.door_locked = False  # 解除锁定
-        
-    #         # 门开到30度后开灯，按钮归位s
-    #         if self.Joint1_state < math.radians(-30) :
-    #             self.door_locked = False  # 解除锁定
-    #             light_scopes[0].set_visibility(True)
-    #             self.dc.set_dof_position_target(self.joint_handles[0], 0)
-        
-    #     # 检测手动关门
-    #     if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
-            
-    #         self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
-    #         self.door_locked = True
-    #         if self.Joint1_state < math.radians(5):  # 当门完全关闭时
-    #             # 锁定门
-    #             self.door_locked = True
-    #             light_scopes[0].set_visibility(False)  # 关闭灯
-    def oven_control(self):
-
-        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint0_state", self.Joint0_state)
-        # print("self.Joint1_state", self.Joint1_state)
-        # 按钮被按下且门处于锁定状态
-        if self.Joint0_state > 0.001 and self.door_locked:
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-50))
-            # if self.Joint1_state > math.radians(100):
-            #     self.door_locked = False  # 解除锁定
-        
-            # 门开到30度后开灯，按钮归位s
-            if self.Joint1_state < math.radians(-30) :
-                self.door_locked = False  # 解除锁定
-                light_scopes[0].set_visibility(True)
-                self.dc.set_dof_position_target(self.joint_handles[0], 0)
-                
-        if abs(self.Joint1_state - math.radians(-50)) < math.radians(0.5) :
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-78))
-            self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
-                
-        
-        # 检测手动关门
-        if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
-            
-            self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
-            self.door_locked = True
-            if self.Joint1_state < math.radians(5):  # 当门完全关闭时
-                # 锁定门
+        if not self.initialized or self.art is None:
+            return
+        self._control_door()
+
+    def _control_door(self):
+        positions = self.art.get_joint_positions().squeeze()
+        button_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        door_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
+        if self.button_target is None:
+            self.button_target = button_state
+        if self.door_target is None:
+            self.door_target = door_state
+
+        if self._button_pressed(button_state) and self.door_locked:
+            self.door_target = math.radians(-50)
+            if door_state < math.radians(-30):
+                self.door_locked = False
+                self.light_scopes[0].set_visibility(True)
+                self.button_target = 0.0
+
+        if abs(door_state - math.radians(-50)) < math.radians(0.5):
+            self.door_target = math.radians(-78)
+            if self.revoluteJoint_drive:
+                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
+
+        if door_state > math.radians(-20) and not self.door_locked:
+            self.door_target = 0.0
+            if door_state < math.radians(5):
                 self.door_locked = True
-                light_scopes[0].set_visibility(False)  # 关闭灯
-                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
+                self.button_target = 0.0
+                self.light_scopes[0].set_visibility(False)
+                if self.revoluteJoint_drive:
+                    self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
+
+        targets = []
+        indices = []
+        if self.button_target is not None:
+            targets.append(self.button_target)
+            indices.append(self.joint_indices[0])
+        if self.door_target is not None:
+            targets.append(self.door_target)
+            indices.append(self.joint_indices[1])
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _button_pressed(self, value: float) -> bool:
+        if self.button_press_mode == "greater":
+            return value > self.button_press_threshold
+        return value < self.button_press_threshold
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+            return
diff --git a/Articulated_objects/small_appliances/microwave/microwave_3/model_microwave_3.usd b/Articulated_objects/small_appliances/microwave/microwave_3/model_microwave_3.usd
index c4713fe715a31187bc19c7344035d008861049bb..48defeb520f796d6e8e5e35c59418c1342a97ee6 100644
--- a/Articulated_objects/small_appliances/microwave/microwave_3/model_microwave_3.usd
+++ b/Articulated_objects/small_appliances/microwave/microwave_3/model_microwave_3.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cfdc8f13f3be686e512db524155986916a326553a18b1fecafff65b97b2726a2
-size 582534
+oid sha256:0d520e55f61005f655c98813fa627b7e459c03dee6cb87913e3d4694147ea2b0
+size 586256
diff --git a/Articulated_objects/small_appliances/microwave/microwave_3/resource/oven_control.py b/Articulated_objects/small_appliances/microwave/microwave_3/resource/oven_control.py
index 8bc60b5c6a295068928b103682a4b6da9dc777a7..3c6ec033b0651c9ae75946c92e3d882879124543 100644
--- a/Articulated_objects/small_appliances/microwave/microwave_3/resource/oven_control.py
+++ b/Articulated_objects/small_appliances/microwave/microwave_3/resource/oven_control.py
@@ -1,195 +1,198 @@
 import carb
+import math
+import torch
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from omni.isaac.core import SimulationContext
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-from omni.isaac.core import SimulationContext, World
-# from isaacsim.core.prims import XFormPrim
-# stiffness :0.8 Damping: 0.05
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-# # 1. prim init
-# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
-# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
-# # 2. articulation Root prim
-# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
-# # 3. joint name 
-# joint_names = ["PrismaticJoint", "RevoluteJoint"]
-# # 4. joint num
-# num_arm_dof = 2
-
-# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
-#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
-#             ]
-# for i in range(0, light_scopes.__len__()):
-#     light_scopes[i].set_visibility(False)
-# index = random.randint(0, len(light_scopes)-1)
-# light_scopes[index].set_visibility(True)
+
 button_prim = XFormPrim(find_prim_path_by_name("E_switch_1_8"))
-print("button_prim", button_prim.prim_path)
-# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
-# print("door_prim", door_prim.prim_path)
+# print("button_prim", button_prim.prim_path)
 root_articulation_prim = find_prim_path_by_name("E_body_3")
 print("root_articulation_prim", root_articulation_prim)
-joint_names = ["PrismaticJoint_microwave_3_left", "RevoluteJoint_microwave_3_left"]
-light_scopes=[XFormPrim(find_prim_path_by_name("light"))
-            ]
+light_scopes = [XFormPrim(find_prim_path_by_name("light"))]
 revolutejoint_path = find_prim_path_by_name("RevoluteJoint_microwave_3_left")
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_3"]
+JOINT_NAMES = [
+    "PrismaticJoint_microwave_3_left",
+    "RevoluteJoint_microwave_3_left",
+]
+BUTTON_PRESS_THRESHOLD = 0.001
+BUTTON_PRESS_MODE = "greater"
 
 
 class MicrowaveOverControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False) 
-        self.Stiffness_max = 0.8
-        self.Stiffness_min = 0.08
-        
-        # 初始化门的锁定状态
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.use_torch = None
+
+        self.light_scopes = light_scopes
+        self.light_scopes[0].set_visibility(False)
+        self.Stiffness_max = 10
+        self.Stiffness_min = 1
         self.door_locked = True
-        
-        # init_pose
+        self.button_target = None
+        self.door_target = None
+        self.button_press_threshold = BUTTON_PRESS_THRESHOLD
+        self.button_press_mode = BUTTON_PRESS_MODE
+
         self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
+
         stage = omni.usd.get_context().get_stage()
         self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
         self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
-   
-   
-    def on_destroy(self):
-        pass
 
     def on_play(self):
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
 
-
-    def on_pause(self):
-        pass
-
     def on_stop(self):
-        self.init_start=True
-        light_scopes[0].set_visibility(False) 
-        # back to initial pose
-        # button_prim.set_local_pose(translation=self.local_pose_button)
-        # door_prim.set_local_pose(translation=self.local_pose_door)
+        self.light_scopes[0].set_visibility(False)
         self.door_locked = True
+        self.button_target = None
+        self.door_target = None
         carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
-        pass
+        if self.revoluteJoint_drive:
+                    self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.dc = _dynamic_control.acquire_dynamic_control_interface()
-        self.active_art() 
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-        # print("self.joint_handles",self.joint_handles)
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
-        self.oven_control()
-    
-    # def oven_control(self):
-    #     self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-    #     self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-    #     # print("self.Joint0_state", self.Joint0_state)
-    #     # print("self.Joint1_state", self.Joint1_state)
-    #     # 按钮被按下且门处于锁定状态
-    #     if self.Joint0_state < -0.001 and self.door_locked:
-    #         self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-90))
-    #         # if self.Joint1_state > math.radians(100):
-    #         #     self.door_locked = False  # 解除锁定
-        
-    #         # 门开到30度后开灯，按钮归位s
-    #         if self.Joint1_state < math.radians(-30) :
-    #             self.door_locked = False  # 解除锁定
-    #             light_scopes[0].set_visibility(True)
-    #             self.dc.set_dof_position_target(self.joint_handles[0], 0)
-        
-    #     # 检测手动关门
-    #     if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
-            
-    #         self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
-    #         self.door_locked = True
-    #         if self.Joint1_state < math.radians(5):  # 当门完全关闭时
-    #             # 锁定门
-    #             self.door_locked = True
-    #             light_scopes[0].set_visibility(False)  # 关闭灯
-    def oven_control(self):
-
-        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint0_state", self.Joint0_state)
-        # print("self.Joint1_state", self.Joint1_state)
-        # 按钮被按下且门处于锁定状态
-        if self.Joint0_state > 0.001 and self.door_locked:
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-50))
-            # if self.Joint1_state > math.radians(100):
-            #     self.door_locked = False  # 解除锁定
-        
-            # 门开到30度后开灯，按钮归位s
-            if self.Joint1_state < math.radians(-30) :
-                self.door_locked = False  # 解除锁定
-                light_scopes[0].set_visibility(True)
-                self.dc.set_dof_position_target(self.joint_handles[0], 0)
-                
-        if abs(self.Joint1_state - math.radians(-50)) < math.radians(0.5) :
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-78))
-            self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
-                
-        
-        # 检测手动关门
-        if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
-            
-            self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
-            self.door_locked = True
-            if self.Joint1_state < math.radians(5):  # 当门完全关闭时
-                # 锁定门
+        if not self.initialized or self.art is None:
+            return
+        self._control_door()
+
+    def _control_door(self):
+        positions = self.art.get_joint_positions().squeeze()
+        button_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        door_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
+        if self.button_target is None:
+            self.button_target = button_state
+        if self.door_target is None:
+            self.door_target = door_state
+
+        if self._button_pressed(button_state) and self.door_locked:
+            self.door_target = math.radians(-50)
+            if door_state < math.radians(-30):
+                self.door_locked = False
+                self.light_scopes[0].set_visibility(True)
+                self.button_target = 0.0
+
+        if abs(door_state - math.radians(-50)) < math.radians(0.5):
+            self.door_target = math.radians(-78)
+            if self.revoluteJoint_drive:
+                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
+
+        if door_state > math.radians(-20) and not self.door_locked:
+            self.door_target = 0.0
+            if door_state < math.radians(5):
                 self.door_locked = True
-                light_scopes[0].set_visibility(False)  # 关闭灯
-                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
+                self.button_target = 0.0
+                self.light_scopes[0].set_visibility(False)
+                if self.revoluteJoint_drive:
+                    self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
+
+        targets = []
+        indices = []
+        if self.button_target is not None:
+            targets.append(self.button_target)
+            indices.append(self.joint_indices[0])
+        if self.door_target is not None:
+            targets.append(self.door_target)
+            indices.append(self.joint_indices[1])
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _button_pressed(self, value: float) -> bool:
+        if self.button_press_mode == "greater":
+            return value > self.button_press_threshold
+        return value < self.button_press_threshold
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+            return
diff --git a/Articulated_objects/small_appliances/oven/oven_2/resource/oven_control.py b/Articulated_objects/small_appliances/oven/oven_2/resource/oven_control.py
index b3c70d51d06484cc5038a9d2ab878594a22e8420..0ad2bc358adf9c5c3dc774ba26dd759c3a882617 100644
--- a/Articulated_objects/small_appliances/oven/oven_2/resource/oven_control.py
+++ b/Articulated_objects/small_appliances/oven/oven_2/resource/oven_control.py
@@ -1,195 +1,196 @@
 import carb
+import math
+import torch
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from omni.isaac.core import SimulationContext
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-from omni.isaac.core import SimulationContext, World
-# from isaacsim.core.prims import XFormPrim
-# stiffness :0.8 Damping: 0.05
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-# # 1. prim init
-# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
-# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
-# # 2. articulation Root prim
-# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
-# # 3. joint name 
-# joint_names = ["PrismaticJoint", "RevoluteJoint"]
-# # 4. joint num
-# num_arm_dof = 2
-
-# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
-#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
-#             ]
-# for i in range(0, light_scopes.__len__()):
-#     light_scopes[i].set_visibility(False)
-# index = random.randint(0, len(light_scopes)-1)
-# light_scopes[index].set_visibility(True)
+
 button_prim = XFormPrim(find_prim_path_by_name("oven_E_button_5"))
 print("button_prim", button_prim.prim_path)
-# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
-# print("door_prim", door_prim.prim_path)
 root_articulation_prim = find_prim_path_by_name("oven_E_body_7")
 print("root_articulation_prim", root_articulation_prim)
-joint_names = ["PrismaticJoint_oven_down", "RevoluteJoint_oven_up"]
-light_scopes=[XFormPrim(find_prim_path_by_name("oven_light"))
-            ]
+light_scopes = [XFormPrim(find_prim_path_by_name("oven_light"))]
 revolutejoint_path = find_prim_path_by_name("RevoluteJoint_oven_up")
+POSSIBLE_ASSET_ROOT_NAMES = ["oven_E_body_7"]
+JOINT_NAMES = [
+    "PrismaticJoint_oven_down",
+    "RevoluteJoint_oven_up",
+]
+BUTTON_PRESS_THRESHOLD = -0.001
+BUTTON_PRESS_MODE = "less"
 
 
 class MicrowaveOverControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False) 
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.use_torch = None
+
+        self.light_scopes = light_scopes
+        self.light_scopes[0].set_visibility(False)
         self.Stiffness_max = 0.8
         self.Stiffness_min = 0.08
-        
-        # 初始化门的锁定状态
         self.door_locked = True
-        
-        # init_pose
+        self.button_target = None
+        self.door_target = None
+        self.button_press_threshold = BUTTON_PRESS_THRESHOLD
+        self.button_press_mode = BUTTON_PRESS_MODE
+
         self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
+
         stage = omni.usd.get_context().get_stage()
         self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
         self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
-   
-   
-    def on_destroy(self):
-        pass
 
     def on_play(self):
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
 
-
-    def on_pause(self):
-        pass
-
     def on_stop(self):
-        self.init_start=True
-        light_scopes[0].set_visibility(False) 
-        # back to initial pose
-        # button_prim.set_local_pose(translation=self.local_pose_button)
-        # door_prim.set_local_pose(translation=self.local_pose_door)
+        self.light_scopes[0].set_visibility(False)
         self.door_locked = True
+        self.button_target = None
+        self.door_target = None
         carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.dc = _dynamic_control.acquire_dynamic_control_interface()
-        self.active_art() 
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-        # print("self.joint_handles",self.joint_handles)
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
-        self.oven_control()
-    
-    # def oven_control(self):
-    #     self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-    #     self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-    #     # print("self.Joint0_state", self.Joint0_state)
-    #     # print("self.Joint1_state", self.Joint1_state)
-    #     # 按钮被按下且门处于锁定状态
-    #     if self.Joint0_state < -0.001 and self.door_locked:
-    #         self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-90))
-    #         # if self.Joint1_state > math.radians(100):
-    #         #     self.door_locked = False  # 解除锁定
-        
-    #         # 门开到30度后开灯，按钮归位s
-    #         if self.Joint1_state < math.radians(-30) :
-    #             self.door_locked = False  # 解除锁定
-    #             light_scopes[0].set_visibility(True)
-    #             self.dc.set_dof_position_target(self.joint_handles[0], 0)
-        
-    #     # 检测手动关门
-    #     if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
-            
-    #         self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
-    #         self.door_locked = True
-    #         if self.Joint1_state < math.radians(5):  # 当门完全关闭时
-    #             # 锁定门
-    #             self.door_locked = True
-    #             light_scopes[0].set_visibility(False)  # 关闭灯
-    def oven_control(self):
-
-        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint0_state", self.Joint0_state)
-        # print("self.Joint1_state", self.Joint1_state)
-        # 按钮被按下且门处于锁定状态
-        if self.Joint0_state < -0.001 and self.door_locked:
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-50))
-            # if self.Joint1_state > math.radians(100):
-            #     self.door_locked = False  # 解除锁定
-        
-            # 门开到30度后开灯，按钮归位s
-            if self.Joint1_state < math.radians(-30) :
-                self.door_locked = False  # 解除锁定
-                light_scopes[0].set_visibility(True)
-                self.dc.set_dof_position_target(self.joint_handles[0], 0)
-                
-        if abs(self.Joint1_state - math.radians(-50)) < math.radians(0.5) :
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-78))
-            self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
-                
-        
-        # 检测手动关门
-        if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
-            
-            self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
-            self.door_locked = True
-            if self.Joint1_state < math.radians(5):  # 当门完全关闭时
-                # 锁定门
+        if not self.initialized or self.art is None:
+            return
+        self._control_door()
+
+    def _control_door(self):
+        positions = self.art.get_joint_positions().squeeze()
+        button_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        door_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
+        if self.button_target is None:
+            self.button_target = button_state
+        if self.door_target is None:
+            self.door_target = door_state
+
+        if self._button_pressed(button_state) and self.door_locked:
+            self.door_target = math.radians(-50)
+            if door_state < math.radians(-30):
+                self.door_locked = False
+                self.light_scopes[0].set_visibility(True)
+                self.button_target = 0.0
+
+        if abs(door_state - math.radians(-50)) < math.radians(0.5):
+            self.door_target = math.radians(-78)
+            if self.revoluteJoint_drive:
+                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
+
+        if door_state > math.radians(-20) and not self.door_locked:
+            self.door_target = 0.0
+            if door_state < math.radians(5):
                 self.door_locked = True
-                light_scopes[0].set_visibility(False)  # 关闭灯
-                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
\ No newline at end of file
+                self.button_target = 0.0
+                self.light_scopes[0].set_visibility(False)
+                if self.revoluteJoint_drive:
+                    self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
+
+        targets = []
+        indices = []
+        if self.button_target is not None:
+            targets.append(self.button_target)
+            indices.append(self.joint_indices[0])
+        if self.door_target is not None:
+            targets.append(self.door_target)
+            indices.append(self.joint_indices[1])
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _button_pressed(self, value: float) -> bool:
+        if self.button_press_mode == "greater":
+            return value > self.button_press_threshold
+        return value < self.button_press_threshold
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [
+                {"lower": dof_limits[idx, 0], "upper": dof_limits[idx, 1]}
+                for idx in self.joint_indices
+            ]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+            return
\ No newline at end of file
diff --git a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/.vscode/extensions.json b/Articulated_objects/small_furniture/cabinet/cabinet_1/resource/.vscode/extensions.json
old mode 100644
new mode 100755
similarity index 100%
rename from Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/.vscode/extensions.json
rename to Articulated_objects/small_furniture/cabinet/cabinet_1/resource/.vscode/extensions.json
diff --git a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/.vscode/launch.json b/Articulated_objects/small_furniture/cabinet/cabinet_1/resource/.vscode/launch.json
old mode 100644
new mode 100755
similarity index 100%
rename from Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/.vscode/launch.json
rename to Articulated_objects/small_furniture/cabinet/cabinet_1/resource/.vscode/launch.json
diff --git a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/.vscode/settings.json b/Articulated_objects/small_furniture/cabinet/cabinet_1/resource/.vscode/settings.json
old mode 100644
new mode 100755
similarity index 100%
rename from Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/.vscode/settings.json
rename to Articulated_objects/small_furniture/cabinet/cabinet_1/resource/.vscode/settings.json
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_1/resource/cabinet_control.py b/Articulated_objects/small_furniture/cabinet/cabinet_1/resource/cabinet_control.py
index d71252cd420925954dd4d0049a7e6fd5fd9bbd9f..7583a3f888c6922f172f93a5def3d2cfc99d5aca 100644
--- a/Articulated_objects/small_furniture/cabinet/cabinet_1/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_1/resource/cabinet_control.py
@@ -1,21 +1,12 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
@@ -91,7 +82,7 @@ for joint_name in joint_names:
 joint_limits = {}
 joint_limit_diffs = {}
 
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
         'lower': joints_info[joint_name]['lower_limit'],
         'upper': joints_info[joint_name]['upper_limit']
@@ -99,87 +90,91 @@ for i, joint_name in enumerate(joint_names):
     joint_limit_diffs[joint_name] = (
         joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class DampingCabinetControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.joint_threshold = -0.15
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            joint = joints_info[joint_name]['prim']
+            joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+            joint_drive.GetStiffnessAttr().Set(
+                calculate_stiffness(joint_state, self.joint_limit_diffs[joint_name])
+            )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state > -0.15:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            limits = self.joint_limits[joint_name]
+            if joint_state > self.joint_threshold:
+                targets.append(limits['upper'])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
+                targets.append(limits['lower'])
+            indices.append(self.joint_indices[idx])
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_10/resource/cabinet_control.py b/Articulated_objects/small_furniture/cabinet/cabinet_10/resource/cabinet_control.py
index 6124d1a51d075589d60710aa45ac143aa4a381fb..38b2f0e8716d0f4bfda672ab6e39e2b582861c53 100644
--- a/Articulated_objects/small_furniture/cabinet/cabinet_10/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_10/resource/cabinet_control.py
@@ -1,185 +1,154 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
+
 def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 50 
-    min_stiffness = 2   
-    decay_rate = 4  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  -0.01
+    max_stiffness = 50
+    min_stiffness = 2
+    decay_rate = 4
+    threshold = -0.01
     if joint_state < threshold:
         return min_stiffness
     stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
     return max(min_stiffness, min(stiffness, max_stiffness))
-        
 
-# 1. Articulation Root prim
+
 root_articulation_prim = find_prim_path_by_name("E_body_3")
+joint_threshold = -0.1
+joint_names = ["PrismaticJoint_cabinet_10_2"]
 
-# 2. Joint names 
-joint_names = ["PrismaticJoint_cabinet_10_2" ]
-#joint1_prim = find_prim_path_by_name(joint_names[0])
-#joint2_prim = find_prim_path_by_name(joint_names[1])
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
-
-# 3. Joint information
 for joint_name in joint_names:
     joint_prim_path = find_prim_path_by_name(joint_name)
     joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
     joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
     joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
+        "prim": joint,
+        "lower_limit": joint.GetLowerLimitAttr().Get(),
+        "upper_limit": joint.GetUpperLimitAttr().Get(),
     }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
 
-# 4. Joint limits and limit differences
 joint_limits = {}
 joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
+        "lower": joints_info[joint_name]["lower_limit"],
+        "upper": joints_info[joint_name]["upper_limit"],
     }
     joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
+        joints_info[joint_name]["upper_limit"] - joints_info[joint_name]["lower_limit"]
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class DampingCabinet10Control(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.joint_threshold = joint_threshold
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
 
     def on_stop(self):
-        self.init_start=True
-        pass
+        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        joint = joints_info[self.joint_names[0]]["prim"]
+        joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+        joint_drive.GetStiffnessAttr().Set(
+            calculate_stiffness(joint_state, self.joint_limit_diffs[self.joint_names[0]])
+        )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state > -0.1:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-            else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
+        positions = self.art.get_joint_positions().squeeze()
+        joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        limits = self.joint_limits[self.joint_names[0]]
+        if joint_state > self.joint_threshold:
+            target = limits["upper"]
+        else:
+            target = limits["lower"]
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor([target], device=device)
+            indices_tensor = torch.tensor(self.joint_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions([target], joint_indices=self.joint_indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/.vscode/extensions.json b/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/.vscode/extensions.json
new file mode 100755
index 0000000000000000000000000000000000000000..ea614ed629affdd0d97abcc881b511d3de69a25c
--- /dev/null
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/.vscode/extensions.json
@@ -0,0 +1,8 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846
+	// for the documentation about the extensions.json format
+	"recommendations": [
+		"ms-python.python",
+		"ms-python.vscode-pylance"
+	],
+}
\ No newline at end of file
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/.vscode/launch.json b/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/.vscode/launch.json
new file mode 100755
index 0000000000000000000000000000000000000000..8a22f73af48687152cef11e4098995885fcaff48
--- /dev/null
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/.vscode/launch.json
@@ -0,0 +1,25 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python: Attach (windows-x86_64/linux-x86_64)",
+            "type": "python",
+            "request": "attach",
+            "pathMappings": [
+            {
+                "localRoot": "${workspaceFolder}",
+                "remoteRoot": "${workspaceFolder}"
+            }],
+            "port": 3000,
+            "host": "127.0.0.1",
+            "subProcess": true,
+            "runtimeArgs": [
+                "--preserve-symlinks",
+                "--preserve-symlinks-main"
+            ]
+        }
+    ]
+}
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/.vscode/settings.json b/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/.vscode/settings.json
new file mode 100755
index 0000000000000000000000000000000000000000..63a0b3e70ae6047c1977e3c9e8e368ed5c157fbc
--- /dev/null
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/.vscode/settings.json
@@ -0,0 +1,10 @@
+{
+    "editor.rulers": [120],
+    "python.languageServer": "Pylance",
+    "python.formatting.provider": "black",
+    "python.formatting.blackArgs": ["--line-length", "120"],
+    "python.linting.enabled": true,
+    "python.linting.pylintEnabled": false,
+    "python.linting.flake8Enabled": true,
+    "python.linting.flake8Args": ["--max-line-length=120"]
+}
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/cabinet_control.py b/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/cabinet_control.py
index 61ce7e1d098611b3b2f137f1bf6b41c0d8156cff..b02b2bc5d2cb43fc8d8b7cea5dd571aef27b9f10 100644
--- a/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_2/resource/cabinet_control.py
@@ -1,21 +1,12 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
@@ -81,17 +72,10 @@ for joint_name in joint_names:
         'upper_limit': joint.GetUpperLimitAttr().Get()
     }
    
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
-
-# 4. Joint limits and limit differences
 joint_limits = {}
 joint_limit_diffs = {}
 
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
         'lower': joints_info[joint_name]['lower_limit'],
         'upper': joints_info[joint_name]['upper_limit']
@@ -99,87 +83,92 @@ for i, joint_name in enumerate(joint_names):
     joint_limit_diffs[joint_name] = (
         joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class DampingCabinetControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.joint_threshold = -0.1
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
 
     def on_play(self):
-        # Initialize simulation context
+        self._initialize_articulation()
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            joint = joints_info[joint_name]['prim']
+            joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+            joint_drive.GetStiffnessAttr().Set(
+                calculate_stiffness(joint_state, self.joint_limit_diffs[joint_name])
+            )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state > -0.1:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            limits = self.joint_limits[joint_name]
+            if joint_state > self.joint_threshold:
+                targets.append(limits['upper'])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
+                targets.append(limits['lower'])
+            indices.append(self.joint_indices[idx])
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_3/resource/cabinet_control.py b/Articulated_objects/small_furniture/cabinet/cabinet_3/resource/cabinet_control.py
index f9599668ad43f96b336fd739a279a8309af26381..71f9a80119b481bcd3b9809df1c1ae35db128943 100644
--- a/Articulated_objects/small_furniture/cabinet/cabinet_3/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_3/resource/cabinet_control.py
@@ -1,185 +1,161 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
+
 def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 20 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  -0.05
+    """Calculate stiffness value based on joint angle"""
+    max_stiffness = 20
+    min_stiffness = 2
+    decay_rate = 3
+    threshold = -0.05
     if joint_state < threshold:
         return min_stiffness
     stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
     return max(min_stiffness, min(stiffness, max_stiffness))
-        
 
-# 1. Articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_2")
 
-# 2. Joint names 
+root_articulation_prim = find_prim_path_by_name("E_body_2")
+joint_threshold = -0.05
 joint_names = ["PrismaticJoint_cabinet_3"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
+
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
-
-# 3. Joint information
 for joint_name in joint_names:
     joint_prim_path = find_prim_path_by_name(joint_name)
     joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
     joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
     joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
+        "prim": joint,
+        "lower_limit": joint.GetLowerLimitAttr().Get(),
+        "upper_limit": joint.GetUpperLimitAttr().Get(),
     }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
 
-# 4. Joint limits and limit differences
 joint_limits = {}
 joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
+        "lower": joints_info[joint_name]["lower_limit"],
+        "upper": joints_info[joint_name]["upper_limit"],
     }
     joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
+        joints_info[joint_name]["upper_limit"] - joints_info[joint_name]["lower_limit"]
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class DampingCabinetControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.joint_threshold = joint_threshold
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
 
     def on_stop(self):
-        self.init_start=True
-        pass
+        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            joint = joints_info[joint_name]["prim"]
+            joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+            joint_drive.GetStiffnessAttr().Set(
+                calculate_stiffness(joint_state, self.joint_limit_diffs[joint_name])
+            )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state > -0.05:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            limits = self.joint_limits[joint_name]
+            if joint_state > self.joint_threshold:
+                targets.append(limits["upper"])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
+                targets.append(limits["lower"])
+            indices.append(self.joint_indices[idx])
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_4/resource/cabinet_control.py b/Articulated_objects/small_furniture/cabinet/cabinet_4/resource/cabinet_control.py
index 122065f13ab1731d43d1e0d435c6b8e42f84dc73..289c4b871ab25009d85ad60e4c288d20f7e2c534 100644
--- a/Articulated_objects/small_furniture/cabinet/cabinet_4/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_4/resource/cabinet_control.py
@@ -1,185 +1,164 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
+
 def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 20 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  0.2
+    max_stiffness = 20
+    min_stiffness = 2
+    decay_rate = 3
+    threshold = 0.2
     if joint_state > threshold:
         return min_stiffness
     stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
     return max(min_stiffness, min(stiffness, max_stiffness))
-        
 
-# 1. Articulation Root prim
+
 root_articulation_prim = find_prim_path_by_name("E_body_5")
+joint_threshold = 0.2
+joint_names = [
+    "PrismaticJoint_cabinet_4_up1",
+    "PrismaticJoint_cabinet_4_up2",
+    "PrismaticJoint_cabinet_4_down1",
+    "PrismaticJoint_cabinet_4_down_2",
+]
 
-# 2. Joint names 
-joint_names = ["PrismaticJoint_cabinet_4_up1","PrismaticJoint_cabinet_4_up2","PrismaticJoint_cabinet_4_down1","PrismaticJoint_cabinet_4_down_2" ]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-joint2_prim = find_prim_path_by_name(joint_names[1])
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
-
-# 3. Joint information
 for joint_name in joint_names:
     joint_prim_path = find_prim_path_by_name(joint_name)
     joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
     joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
     joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
+        "prim": joint,
+        "lower_limit": joint.GetLowerLimitAttr().Get(),
+        "upper_limit": joint.GetUpperLimitAttr().Get(),
     }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
 
-
-# 4. Joint limits and limit differences
 joint_limits = {}
 joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
+        "lower": joints_info[joint_name]["lower_limit"],
+        "upper": joints_info[joint_name]["upper_limit"],
     }
     joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
+        joints_info[joint_name]["upper_limit"] - joints_info[joint_name]["lower_limit"]
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class DampingCabinet4Control(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.joint_threshold = joint_threshold
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
 
     def on_stop(self):
-        self.init_start=True
-        pass
+        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            joint = joints_info[joint_name]["prim"]
+            joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+            joint_drive.GetStiffnessAttr().Set(
+                calculate_stiffness(joint_state, self.joint_limit_diffs[joint_name])
+            )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state > 0.2:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            limits = self.joint_limits[joint_name]
+            if joint_state > self.joint_threshold:
+                targets.append(limits["upper"])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
+                targets.append(limits["lower"])
+            indices.append(self.joint_indices[idx])
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_5/resource/cabinet_control.py b/Articulated_objects/small_furniture/cabinet/cabinet_5/resource/cabinet_control.py
index bb6df94cf1a1d4f95b7afa4fdb019322652ee785..3a3d02c5f3b6c14c572f8efc418356a6b4a2604c 100644
--- a/Articulated_objects/small_furniture/cabinet/cabinet_5/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_5/resource/cabinet_control.py
@@ -1,185 +1,162 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
+
 def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 50 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  -0.1
+    max_stiffness = 50
+    min_stiffness = 2
+    decay_rate = 3
+    threshold = -0.1
     if joint_state < threshold:
         return min_stiffness
     stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
     return max(min_stiffness, min(stiffness, max_stiffness))
-        
 
-# 1. Articulation Root prim
+
 root_articulation_prim = find_prim_path_by_name("E_body_11")
+joint_threshold = -0.1
+joint_names = [
+    "PrismaticJoint_cabinet_5_up",
+    "PrismaticJoint_cabinet_5_down",
+]
 
-# 2. Joint names 
-joint_names = ["PrismaticJoint_cabinet_5_up","PrismaticJoint_cabinet_5_down"]
-#joint1_prim = find_prim_path_by_name(joint_names[0])
-#joint2_prim = find_prim_path_by_name(joint_names[1])
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
-
-# 3. Joint information
 for joint_name in joint_names:
     joint_prim_path = find_prim_path_by_name(joint_name)
     joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
     joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
     joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
+        "prim": joint,
+        "lower_limit": joint.GetLowerLimitAttr().Get(),
+        "upper_limit": joint.GetUpperLimitAttr().Get(),
     }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
 
-
-# 4. Joint limits and limit differences
 joint_limits = {}
 joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
+        "lower": joints_info[joint_name]["lower_limit"],
+        "upper": joints_info[joint_name]["upper_limit"],
     }
     joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
+        joints_info[joint_name]["upper_limit"] - joints_info[joint_name]["lower_limit"]
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
-class DampingCabinet5Control(BehaviorScript):
+class DampingCabinetControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.joint_threshold = joint_threshold
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
 
     def on_stop(self):
-        self.init_start=True
-        pass
+        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            joint = joints_info[joint_name]["prim"]
+            joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+            joint_drive.GetStiffnessAttr().Set(
+                calculate_stiffness(joint_state, self.joint_limit_diffs[joint_name])
+            )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state > -0.1:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            limits = self.joint_limits[joint_name]
+            if joint_state > self.joint_threshold:
+                targets.append(limits["upper"])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
+                targets.append(limits["lower"])
+            indices.append(self.joint_indices[idx])
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_6/resource/cabinet_control.py b/Articulated_objects/small_furniture/cabinet/cabinet_6/resource/cabinet_control.py
index f4550c24e783e227338ce68ff2cc90417489b805..4d8f3aa1d2690938fc7c00aabec58105aea8b639 100644
--- a/Articulated_objects/small_furniture/cabinet/cabinet_6/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_6/resource/cabinet_control.py
@@ -1,185 +1,159 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
+
 def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 30 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  -0.1
+    max_stiffness = 30
+    min_stiffness = 2
+    decay_rate = 3
+    threshold = -0.1
     if joint_state < threshold:
         return min_stiffness
     stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
     return max(min_stiffness, min(stiffness, max_stiffness))
-        
 
-# 1. Articulation Root prim
+
 root_articulation_prim = find_prim_path_by_name("E_body_3")
+joint_threshold = -0.1
+joint_names = ["PrismaticJoint_cabinet_6_down"]
 
-# 2. Joint names 
-joint_names = ["PrismaticJoint_cabinet_6_down" ]
-#joint1_prim = find_prim_path_by_name(joint_names[0])
-#joint2_prim = find_prim_path_by_name(joint_names[1])
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
-
-# 3. Joint information
 for joint_name in joint_names:
     joint_prim_path = find_prim_path_by_name(joint_name)
     joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
     joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
     joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
+        "prim": joint,
+        "lower_limit": joint.GetLowerLimitAttr().Get(),
+        "upper_limit": joint.GetUpperLimitAttr().Get(),
     }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
 
-
-# 4. Joint limits and limit differences
 joint_limits = {}
 joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
+        "lower": joints_info[joint_name]["lower_limit"],
+        "upper": joints_info[joint_name]["upper_limit"],
     }
     joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
+        joints_info[joint_name]["upper_limit"] - joints_info[joint_name]["lower_limit"]
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class DampingCabinet6Control(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.joint_threshold = joint_threshold
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
 
     def on_stop(self):
-        self.init_start=True
-        pass
+        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            joint = joints_info[joint_name]["prim"]
+            joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+            joint_drive.GetStiffnessAttr().Set(
+                calculate_stiffness(joint_state, self.joint_limit_diffs[joint_name])
+            )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state > -0.1:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            limits = self.joint_limits[joint_name]
+            if joint_state > self.joint_threshold:
+                targets.append(limits["upper"])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
+                targets.append(limits["lower"])
+            indices.append(self.joint_indices[idx])
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_7/resource/cabinet_control.py b/Articulated_objects/small_furniture/cabinet/cabinet_7/resource/cabinet_control.py
index d5df238de934f9384fb0aa70445b202da0c975c6..e25d0c163b8d46c86f6939558a220860e6d1a53b 100644
--- a/Articulated_objects/small_furniture/cabinet/cabinet_7/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_7/resource/cabinet_control.py
@@ -1,185 +1,154 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
+
 def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 30 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  -0.1
+    max_stiffness = 30
+    min_stiffness = 2
+    decay_rate = 3
+    threshold = -0.1
     if joint_state < threshold:
         return min_stiffness
     stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
     return max(min_stiffness, min(stiffness, max_stiffness))
-        
 
-# 1. Articulation Root prim
+
 root_articulation_prim = find_prim_path_by_name("E_body_2")
+joint_threshold = -0.1
+joint_names = ["PrismaticJoint_7_down"]
 
-# 2. Joint names 
-joint_names = ["PrismaticJoint_7_down" ]
-#joint1_prim = find_prim_path_by_name(joint_names[0])
-#joint2_prim = find_prim_path_by_name(joint_names[1])
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
-
-# 3. Joint information
 for joint_name in joint_names:
     joint_prim_path = find_prim_path_by_name(joint_name)
     joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
     joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
     joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
+        "prim": joint,
+        "lower_limit": joint.GetLowerLimitAttr().Get(),
+        "upper_limit": joint.GetUpperLimitAttr().Get(),
     }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
 
-# 4. Joint limits and limit differences
 joint_limits = {}
 joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
+        "lower": joints_info[joint_name]["lower_limit"],
+        "upper": joints_info[joint_name]["upper_limit"],
     }
     joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
+        joints_info[joint_name]["upper_limit"] - joints_info[joint_name]["lower_limit"]
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class DampingCabinet7Control(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.joint_threshold = joint_threshold
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
 
     def on_stop(self):
-        self.init_start=True
-        pass
+        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        joint = joints_info[self.joint_names[0]]["prim"]
+        joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+        joint_drive.GetStiffnessAttr().Set(
+            calculate_stiffness(joint_state, self.joint_limit_diffs[self.joint_names[0]])
+        )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state > -0.1:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-            else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
+        positions = self.art.get_joint_positions().squeeze()
+        joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        limits = self.joint_limits[self.joint_names[0]]
+        if joint_state > self.joint_threshold:
+            target = limits["upper"]
+        else:
+            target = limits["lower"]
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor([target], device=device)
+            indices_tensor = torch.tensor(self.joint_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions([target], joint_indices=self.joint_indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_8/resource/cabinet_control.py b/Articulated_objects/small_furniture/cabinet/cabinet_8/resource/cabinet_control.py
index 1e12c3776bb9360260d1fc7f438767d51d9d1514..ac1f5c7431605456cf11ea84051a4fbf196fb9c9 100644
--- a/Articulated_objects/small_furniture/cabinet/cabinet_8/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_8/resource/cabinet_control.py
@@ -1,185 +1,154 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
+
 def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 30 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  -0.05
+    max_stiffness = 30
+    min_stiffness = 2
+    decay_rate = 3
+    threshold = -0.05
     if joint_state < threshold:
         return min_stiffness
     stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
     return max(min_stiffness, min(stiffness, max_stiffness))
-        
 
-# 1. Articulation Root prim
+
 root_articulation_prim = find_prim_path_by_name("E_body_2")
+joint_threshold = -0.05
+joint_names = ["PrismaticJoint_cabinet_8_up"]
 
-# 2. Joint names 
-joint_names = ["PrismaticJoint_cabinet_8_up" ]
-#joint1_prim = find_prim_path_by_name(joint_names[0])
-#joint2_prim = find_prim_path_by_name(joint_names[1])
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
-
-# 3. Joint information
 for joint_name in joint_names:
     joint_prim_path = find_prim_path_by_name(joint_name)
     joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
     joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
     joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
+        "prim": joint,
+        "lower_limit": joint.GetLowerLimitAttr().Get(),
+        "upper_limit": joint.GetUpperLimitAttr().Get(),
     }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
 
-# 4. Joint limits and limit differences
 joint_limits = {}
 joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
+        "lower": joints_info[joint_name]["lower_limit"],
+        "upper": joints_info[joint_name]["upper_limit"],
     }
     joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
+        joints_info[joint_name]["upper_limit"] - joints_info[joint_name]["lower_limit"]
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class DampingCabinet8Control(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.joint_threshold = joint_threshold
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
 
     def on_stop(self):
-        self.init_start=True
-        pass
+        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        joint = joints_info[self.joint_names[0]]["prim"]
+        joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+        joint_drive.GetStiffnessAttr().Set(
+            calculate_stiffness(joint_state, self.joint_limit_diffs[self.joint_names[0]])
+        )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state > -0.05:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-            else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
+        positions = self.art.get_joint_positions().squeeze()
+        joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        limits = self.joint_limits[self.joint_names[0]]
+        if joint_state > self.joint_threshold:
+            target = limits["upper"]
+        else:
+            target = limits["lower"]
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor([target], device=device)
+            indices_tensor = torch.tensor(self.joint_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions([target], joint_indices=self.joint_indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/small_furniture/cabinet/cabinet_9/resource/cabinet_control.py b/Articulated_objects/small_furniture/cabinet/cabinet_9/resource/cabinet_control.py
index 9f2944aeac8a2d938b2a12ca701db561a10603a0..0be7831adc43b05591e3aed9676fefcd84adcca3 100644
--- a/Articulated_objects/small_furniture/cabinet/cabinet_9/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/cabinet/cabinet_9/resource/cabinet_control.py
@@ -1,185 +1,154 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
+
 def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 50 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  -0.075
+    max_stiffness = 50
+    min_stiffness = 2
+    decay_rate = 3
+    threshold = -0.075
     if joint_state < threshold:
         return min_stiffness
     stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
     return max(min_stiffness, min(stiffness, max_stiffness))
-        
 
-# 1. Articulation Root prim
+
 root_articulation_prim = find_prim_path_by_name("E_body1_4")
+joint_threshold = -0.075
+joint_names = ["PrismaticJoint_cabinet_9_down"]
 
-# 2. Joint names 
-joint_names = ["PrismaticJoint_cabinet_9_down" ]
-#joint1_prim = find_prim_path_by_name(joint_names[0])
-#joint2_prim = find_prim_path_by_name(joint_names[1])
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
-
-# 3. Joint information
 for joint_name in joint_names:
     joint_prim_path = find_prim_path_by_name(joint_name)
     joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
     joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
     joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
+        "prim": joint,
+        "lower_limit": joint.GetLowerLimitAttr().Get(),
+        "upper_limit": joint.GetUpperLimitAttr().Get(),
     }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
 
-# 4. Joint limits and limit differences
 joint_limits = {}
 joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
+        "lower": joints_info[joint_name]["lower_limit"],
+        "upper": joints_info[joint_name]["upper_limit"],
     }
     joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
+        joints_info[joint_name]["upper_limit"] - joints_info[joint_name]["lower_limit"]
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class DampingCabinet9Control(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.joint_threshold = joint_threshold
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
 
     def on_stop(self):
-        self.init_start=True
-        pass
+        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        joint = joints_info[self.joint_names[0]]["prim"]
+        joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+        joint_drive.GetStiffnessAttr().Set(
+            calculate_stiffness(joint_state, self.joint_limit_diffs[self.joint_names[0]])
+        )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state > -0.075:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-            else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
+        positions = self.art.get_joint_positions().squeeze()
+        joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        limits = self.joint_limits[self.joint_names[0]]
+        if joint_state > self.joint_threshold:
+            target = limits["upper"]
+        else:
+            target = limits["lower"]
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor([target], device=device)
+            indices_tensor = torch.tensor(self.joint_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions([target], joint_indices=self.joint_indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
+
diff --git a/Articulated_objects/small_furniture/filing_cabinet/double_door/double_door_3/resource/cabinet_control.py b/Articulated_objects/small_furniture/filing_cabinet/double_door/double_door_3/resource/cabinet_control.py
index 862f4865cf46ce19202d494c9d118d4437ab5e8b..e6dc1f5b16e9bffc042c5cb4ae2f70f08a7ce6a8 100644
--- a/Articulated_objects/small_furniture/filing_cabinet/double_door/double_door_3/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/filing_cabinet/double_door/double_door_3/resource/cabinet_control.py
@@ -1,21 +1,12 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
@@ -65,8 +56,6 @@ joint_threshold = -0.2
 
 # 2. Joint names 
 joint_names = ["PrismaticJoint_double_door_3_left","PrismaticJoint_double_door_3_right"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
 
@@ -82,11 +71,6 @@ for joint_name in joint_names:
         'upper_limit': joint.GetUpperLimitAttr().Get()
     }
    
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
 
 # 4. Joint limits and limit differences
 joint_limits = {}
@@ -100,87 +84,91 @@ for i, joint_name in enumerate(joint_names):
     joint_limit_diffs[joint_name] = (
         joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class Filing1Control(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.joint_threshold = joint_threshold
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            joint = joints_info[joint_name]['prim']
+            joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+            joint_drive.GetStiffnessAttr().Set(
+                calculate_stiffness(joint_state, self.joint_limit_diffs[joint_name])
+            )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            limits = self.joint_limits[joint_name]
+            if joint_state > 0.5 * self.joint_threshold:
+                targets.append(limits['upper'])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
+                targets.append(limits['lower'])
+            indices.append(self.joint_indices[idx])
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
diff --git a/Articulated_objects/small_furniture/filing_cabinet/double_door/double_door_4/resource/cabinet_control.py b/Articulated_objects/small_furniture/filing_cabinet/double_door/double_door_4/resource/cabinet_control.py
index 4bbdd790b5d1acb6c3e9b3d0e96327ce3659f222..d7b89fce655363fc14a9d6102f169b36e8061f57 100644
--- a/Articulated_objects/small_furniture/filing_cabinet/double_door/double_door_4/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/filing_cabinet/double_door/double_door_4/resource/cabinet_control.py
@@ -1,21 +1,12 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
@@ -65,8 +56,6 @@ joint_threshold = -0.2
 
 # 2. Joint names 
 joint_names = ["PrismaticJoint_double_door_4_left","PrismaticJoint_double_door_4_right"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
 
@@ -82,11 +71,6 @@ for joint_name in joint_names:
         'upper_limit': joint.GetUpperLimitAttr().Get()
     }
    
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
 
 # 4. Joint limits and limit differences
 joint_limits = {}
@@ -100,87 +84,91 @@ for i, joint_name in enumerate(joint_names):
     joint_limit_diffs[joint_name] = (
         joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class Filing4Control(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.joint_threshold = joint_threshold
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            joint = joints_info[joint_name]['prim']
+            joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+            joint_drive.GetStiffnessAttr().Set(
+                calculate_stiffness(joint_state, self.joint_limit_diffs[joint_name])
+            )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            limits = self.joint_limits[joint_name]
+            if joint_state > 0.5 * self.joint_threshold:
+                targets.append(limits['upper'])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
+                targets.append(limits['lower'])
+            indices.append(self.joint_indices[idx])
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
diff --git a/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_1/resource/cabinet_control.py b/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_1/resource/cabinet_control.py
index b1cfbb9a31f3aabbac79dc5f695f9bf2ef67b1a7..dc6e9a5ca3c6a923f5f3e19fa613fb9580e61745 100644
--- a/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_1/resource/cabinet_control.py
+++ b/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_1/resource/cabinet_control.py
@@ -1,28 +1,16 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
 import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
+import torch
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+import omni.usd
 from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
-
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
     def _find_prim(prim):
         if prim.GetName() == prim_name:
             return prim.GetPath().pathString
@@ -31,156 +19,155 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
             if result:
                 return result
         return None
-    
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 50 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  0.5 * joint_threshold
-    if joint_state > threshold:
-        return min_stiffness
-    stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-    return max(min_stiffness, min(stiffness, max_stiffness))
-        
-
-# 1. Articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_25")
-joint_threshold = 0.2
-
-# 2. Joint names 
-joint_names = ["PrismaticJoint_chest_of_drawers_1_up","PrismaticJoint_chest_of_drawers_1_middle","PrismaticJoint_chest_of_drawers_1_down"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
-stage = omni.usd.get_context().get_stage()
-joints_info = {}
-
-# 3. Joint information
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
-
-# 4. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_25"]
+JOINT_NAMES = ["PrismaticJoint_chest_of_drawers_1_up", "PrismaticJoint_chest_of_drawers_1_middle", "PrismaticJoint_chest_of_drawers_1_down"]
+JOINT_THRESHOLD = 0.2
 
 class FilingDrawersControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        # 尝试找到articulation根路径
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+        
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
 
     def on_play(self):
-        # Initialize simulation context
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
+        self._initialize_articulation()
         
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+    def on_update(self, current_time, delta_time):
+        if delta_time <= 0: return
+        # 延迟初始化，确保physics准备好
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return  # 如果还没初始化成功，跳过本次更新
+        
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
+
+    def _get_scalar_value(self, value):
+        """将值转换为标量（支持torch tensor和普通数值）"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif hasattr(value, 'item'):
+            return value.item()
+        else:
+            return float(value)
     
+    def calculate_stiffness(self, joint_state, joint_limit):
+        """Calculate stiffness value based on joint angle (自动适配torch tensor或普通数值)"""
+        max_stiffness = 50
+        min_stiffness = 2
+        decay_rate = 3
+        threshold = 0.5 * self.joint_threshold
+        
+        # 转换为标量值进行比较
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        
+        if joint_state_scalar > threshold:
+            return min_stiffness
+        
+        # 根据平台选择计算方式
+        if self.use_torch:
+            # Isaac Lab: 使用torch tensor计算
+            device = joint_state.device if isinstance(joint_state, torch.Tensor) else torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=device))
+            stiffness = max(min_stiffness, min(stiffness.item(), max_stiffness))
+        else:
+            # Isaac Sim: 使用math计算
+            stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+            stiffness = max(min_stiffness, min(stiffness, max_stiffness))
+        
+        return stiffness
+
     def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
         stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
             joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
             joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+            joint_state = positions[idx]
+            joint_limit_diff = self.joint_limit_diffs[i]
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, joint_limit_diff))
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-            else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = positions[idx]
+            # 转换为标量值进行比较
+            joint_state_scalar = self._get_scalar_value(joint_state)
             
+            if joint_state_scalar > 0.5 * self.joint_threshold:
+                targets.append(self.joint_limits[i]["upper"])
+            else:
+                targets.append(self.joint_limits[i]["lower"])
+        
+        # 根据平台选择不同的action创建方式
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(self.joint_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=self.joint_indices)
+        
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        """延迟初始化，在physics准备好后调用"""
+        if self.initialized:
+            return
         
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            print("self.art :", self.art)
+            self.art.initialize()
+            
+            # 检测返回类型：torch tensor 还是 numpy/普通数值
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+            
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [{
+                "lower": dof_limits[idx, 0],
+                "upper": dof_limits[idx, 1]
+            } for idx in self.joint_indices]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            # Physics还没准备好，下次再试
+            print(f"Physics not ready yet, will retry: {e}")
+            return
diff --git a/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_2/resource/filing_control.py b/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_2/resource/filing_control.py
index d1b58c2c030205885980ec38d5d4a177274537c5..11b68c3de960e7b0d35920661ae5f47398da0592 100644
--- a/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_2/resource/filing_control.py
+++ b/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_2/resource/filing_control.py
@@ -1,28 +1,16 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
 import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
+import torch
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+import omni.usd
 from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
-
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
     def _find_prim(prim):
         if prim.GetName() == prim_name:
             return prim.GetPath().pathString
@@ -31,156 +19,155 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
             if result:
                 return result
         return None
-    
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 50 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  0.5 * joint_threshold
-    if joint_state < threshold:
-        return min_stiffness
-    stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-    return max(min_stiffness, min(stiffness, max_stiffness))
-        
-
-# 1. Articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_1")
-joint_threshold = -0.2
-
-# 2. Joint names 
-joint_names = ["PrismaticJoint_chest_of_drawers_2_down","PrismaticJoint_chest_of_drawers_2_up"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
-stage = omni.usd.get_context().get_stage()
-joints_info = {}
-
-# 3. Joint information
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
-
-# 4. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_1"]
+JOINT_NAMES = ["PrismaticJoint_chest_of_drawers_2_down", "PrismaticJoint_chest_of_drawers_2_up"]
+JOINT_THRESHOLD = -0.2
 
 class FilingDrawersControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
-
+        # 尝试找到articulation根路径
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+        
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+        
     def on_play(self):
-        # Initialize simulation context
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
+        self._initialize_articulation()
         
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+    def on_update(self, current_time, delta_time):
+        if delta_time <= 0: return
+        # 延迟初始化，确保physics准备好
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return  # 如果还没初始化成功，跳过本次更新
+        
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
+
+    def _get_scalar_value(self, value):
+        """将值转换为标量（支持torch tensor和普通数值）"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif hasattr(value, 'item'):
+            return value.item()
+        else:
+            return float(value)
     
+    def calculate_stiffness(self, joint_state, joint_limit):
+        """Calculate stiffness value based on joint angle (自动适配torch tensor或普通数值)"""
+        max_stiffness = 50
+        min_stiffness = 2
+        decay_rate = 3
+        threshold = 0.5 * self.joint_threshold
+        
+        # 转换为标量值进行比较
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        
+        if joint_state_scalar < threshold:
+            return min_stiffness
+        
+        # 根据平台选择计算方式
+        if self.use_torch:
+            # Isaac Lab: 使用torch tensor计算
+            device = joint_state.device if isinstance(joint_state, torch.Tensor) else torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=device))
+            stiffness = max(min_stiffness, min(stiffness.item(), max_stiffness))
+        else:
+            # Isaac Sim: 使用math计算
+            stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+            stiffness = max(min_stiffness, min(stiffness, max_stiffness))
+        
+        return stiffness
+
     def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
         stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
             joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
             joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+            joint_state = positions[idx]
+            joint_limit_diff = self.joint_limit_diffs[i]
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, joint_limit_diff))
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-            else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = positions[idx]
+            # 转换为标量值进行比较
+            joint_state_scalar = self._get_scalar_value(joint_state)
             
+            if joint_state_scalar > 0.5 * self.joint_threshold:
+                targets.append(self.joint_limits[i]["upper"])
+            else:
+                targets.append(self.joint_limits[i]["lower"])
+        
+        # 根据平台选择不同的action创建方式
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(self.joint_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=self.joint_indices)
         
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        """延迟初始化，在physics准备好后调用"""
+        if self.initialized:
+            return
+        
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            print("self.art :", self.art)
+            self.art.initialize()
+            
+            # 检测返回类型：torch tensor 还是 numpy/普通数值
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+            
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [{
+                "lower": dof_limits[idx, 0],
+                "upper": dof_limits[idx, 1]
+            } for idx in self.joint_indices]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            # Physics还没准备好，下次再试
+            print(f"Physics not ready yet, will retry: {e}")
+            return
diff --git a/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_3/resource/filing_control.py b/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_3/resource/filing_control.py
index b53785176048ec95d2fd4ebfd2025115806865e3..dc5df4dcedcfdc9fb67a064aeb12ebf1050f7399 100644
--- a/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_3/resource/filing_control.py
+++ b/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_3/resource/filing_control.py
@@ -1,28 +1,16 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
 import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
+import torch
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+import omni.usd
 from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
-
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
     def _find_prim(prim):
         if prim.GetName() == prim_name:
             return prim.GetPath().pathString
@@ -31,156 +19,155 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
             if result:
                 return result
         return None
-    
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 50 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  0.5 * joint_threshold
-    if joint_state < threshold:
-        return min_stiffness
-    stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-    return max(min_stiffness, min(stiffness, max_stiffness))
-        
-
-# 1. Articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_1")
-joint_threshold = -0.2
-
-# 2. Joint names 
-joint_names = ["PrismaticJoint_chest_of_drawers_3_1","PrismaticJoint_chest_of_drawers_3_2","PrismaticJoint_chest_of_drawers_3_3"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
-stage = omni.usd.get_context().get_stage()
-joints_info = {}
-
-# 3. Joint information
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
-
-# 4. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_1"]
+JOINT_NAMES = ["PrismaticJoint_chest_of_drawers_3_1", "PrismaticJoint_chest_of_drawers_3_2", "PrismaticJoint_chest_of_drawers_3_3"]
+JOINT_THRESHOLD = -0.2
 
 class FilingDrawersControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
-
+        # 尝试找到articulation根路径
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+        
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+        
     def on_play(self):
-        # Initialize simulation context
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
+        self._initialize_articulation()
+
+    def on_update(self, current_time, delta_time):
+        if delta_time <= 0: return
+        # 延迟初始化，确保physics准备好
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return  # 如果还没初始化成功，跳过本次更新
         
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
+
+    def _get_scalar_value(self, value):
+        """将值转换为标量（支持torch tensor和普通数值）"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif hasattr(value, 'item'):
+            return value.item()
+        else:
+            return float(value)
     
+    def calculate_stiffness(self, joint_state, joint_limit):
+        """Calculate stiffness value based on joint angle (自动适配torch tensor或普通数值)"""
+        max_stiffness = 50
+        min_stiffness = 2
+        decay_rate = 3
+        threshold = 0.5 * self.joint_threshold
+        
+        # 转换为标量值进行比较
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        
+        if joint_state_scalar < threshold:
+            return min_stiffness
+        
+        # 根据平台选择计算方式
+        if self.use_torch:
+            # Isaac Lab: 使用torch tensor计算
+            device = joint_state.device if isinstance(joint_state, torch.Tensor) else torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=device))
+            stiffness = max(min_stiffness, min(stiffness.item(), max_stiffness))
+        else:
+            # Isaac Sim: 使用math计算
+            stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+            stiffness = max(min_stiffness, min(stiffness, max_stiffness))
+        
+        return stiffness
+
     def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
         stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
             joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
             joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+            joint_state = positions[idx]
+            joint_limit_diff = self.joint_limit_diffs[i]
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, joint_limit_diff))
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-            else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = positions[idx]
+            # 转换为标量值进行比较
+            joint_state_scalar = self._get_scalar_value(joint_state)
             
+            if joint_state_scalar > 0.5 * self.joint_threshold:
+                targets.append(self.joint_limits[i]["upper"])
+            else:
+                targets.append(self.joint_limits[i]["lower"])
+        
+        # 根据平台选择不同的action创建方式
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(self.joint_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=self.joint_indices)
         
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        """延迟初始化，在physics准备好后调用"""
+        if self.initialized:
+            return
+        
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            print("self.art :", self.art)
+            self.art.initialize()
+            
+            # 检测返回类型：torch tensor 还是 numpy/普通数值
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+            
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [{
+                "lower": dof_limits[idx, 0],
+                "upper": dof_limits[idx, 1]
+            } for idx in self.joint_indices]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            # Physics还没准备好，下次再试
+            print(f"Physics not ready yet, will retry: {e}")
+            return
diff --git a/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_4/resource/filing_control.py b/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_4/resource/filing_control.py
index f4ce89ab6d77a5b1c12df202cfef68bef7de4bf5..aaf83f49d289a0a8372bffc911f6d0d6d9d922e7 100644
--- a/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_4/resource/filing_control.py
+++ b/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_4/resource/filing_control.py
@@ -1,28 +1,16 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
 import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
+import torch
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+import omni.usd
 from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
-
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
     def _find_prim(prim):
         if prim.GetName() == prim_name:
             return prim.GetPath().pathString
@@ -31,156 +19,156 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
             if result:
                 return result
         return None
-    
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 50 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  0.5 * joint_threshold
-    if joint_state < threshold:
-        return min_stiffness
-    stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-    return max(min_stiffness, min(stiffness, max_stiffness))
-        
-
-# 1. Articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_1")
-joint_threshold = -0.2
-
-# 2. Joint names 
-joint_names = ["PrismaticJoint_chest_of_drawers_4_up"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
-stage = omni.usd.get_context().get_stage()
-joints_info = {}
-
-# 3. Joint information
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
-
-# 4. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_1"]
+JOINT_NAMES = ["PrismaticJoint_chest_of_drawers_4_up"]
+JOINT_THRESHOLD = -0.2
 
 class Filing4DrawersControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
-
+        # 尝试找到articulation根路径
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+        
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+        
+        
     def on_play(self):
-        # Initialize simulation context
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
+        self._initialize_articulation()
+
+    def on_update(self, current_time, delta_time):
+        if delta_time <= 0: return
+        # 延迟初始化，确保physics准备好
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return  # 如果还没初始化成功，跳过本次更新
         
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
+
+    def _get_scalar_value(self, value):
+        """将值转换为标量（支持torch tensor和普通数值）"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif hasattr(value, 'item'):
+            return value.item()
+        else:
+            return float(value)
     
+    def calculate_stiffness(self, joint_state, joint_limit):
+        """Calculate stiffness value based on joint angle (自动适配torch tensor或普通数值)"""
+        max_stiffness = 50
+        min_stiffness = 2
+        decay_rate = 3
+        threshold = 0.5 * self.joint_threshold
+        
+        # 转换为标量值进行比较
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        
+        if joint_state_scalar < threshold:
+            return min_stiffness
+        
+        # 根据平台选择计算方式
+        if self.use_torch:
+            # Isaac Lab: 使用torch tensor计算
+            device = joint_state.device if isinstance(joint_state, torch.Tensor) else torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=device))
+            stiffness = max(min_stiffness, min(stiffness.item(), max_stiffness))
+        else:
+            # Isaac Sim: 使用math计算
+            stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+            stiffness = max(min_stiffness, min(stiffness, max_stiffness))
+        
+        return stiffness
+
     def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
         stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
             joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
             joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+            joint_state = positions[idx]
+            joint_limit_diff = self.joint_limit_diffs[i]
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, joint_limit_diff))
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-            else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = positions[idx]
+            # 转换为标量值进行比较
+            joint_state_scalar = self._get_scalar_value(joint_state)
             
+            if joint_state_scalar > 0.5 * self.joint_threshold:
+                targets.append(self.joint_limits[i]["upper"])
+            else:
+                targets.append(self.joint_limits[i]["lower"])
+        
+        # 根据平台选择不同的action创建方式
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(self.joint_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=self.joint_indices)
         
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        """延迟初始化，在physics准备好后调用"""
+        if self.initialized:
+            return
+        
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            print("self.art :", self.art)
+            self.art.initialize()
+            
+            # 检测返回类型：torch tensor 还是 numpy/普通数值
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+            
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [{
+                "lower": dof_limits[idx, 0],
+                "upper": dof_limits[idx, 1]
+            } for idx in self.joint_indices]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            # Physics还没准备好，下次再试
+            print(f"Physics not ready yet, will retry: {e}")
+            return
diff --git a/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_5/resource/filing_control.py b/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_5/resource/filing_control.py
index 171388d61e18194c62d220d7d6c0a5e4c752ce52..8cc430265910df751308ebad74eb34db0e0d0d22 100644
--- a/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_5/resource/filing_control.py
+++ b/Articulated_objects/small_furniture/filing_cabinet/drawers/chest_of_drawers_5/resource/filing_control.py
@@ -1,28 +1,16 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
 import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
+import torch
+from omni.kit.scripting import BehaviorScript
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+import omni.usd
 from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
-
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
     def _find_prim(prim):
         if prim.GetName() == prim_name:
             return prim.GetPath().pathString
@@ -31,156 +19,154 @@ def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
             if result:
                 return result
         return None
-    
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 50 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  0.5 * joint_threshold
-    if joint_state < threshold:
-        return min_stiffness
-    stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-    return max(min_stiffness, min(stiffness, max_stiffness))
-        
-
-# 1. Articulation Root prim
-root_articulation_prim = find_prim_path_by_name("body")
-joint_threshold = -0.2
-
-# 2. Joint names 
-joint_names = ["PrismaticJoint_chest_of_drawers_5_up_1","PrismaticJoint_chest_of_drawers_5_middle","PrismaticJoint_chest_of_drawers_5_down_1","PrismaticJoint_chest_of_drawers_5_down_2"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
-stage = omni.usd.get_context().get_stage()
-joints_info = {}
-
-# 3. Joint information
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
-
-# 4. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
+POSSIBLE_ASSET_ROOT_NAMES = ["body"]
+JOINT_NAMES = ["PrismaticJoint_chest_of_drawers_5_up_1", "PrismaticJoint_chest_of_drawers_5_middle", "PrismaticJoint_chest_of_drawers_5_down_1", "PrismaticJoint_chest_of_drawers_5_down_2"]
+JOINT_THRESHOLD = -0.2
 
 class Filing5DrawersControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        # 尝试找到articulation根路径
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+        
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.joint_limits = None
+        self.joint_limit_diffs = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+
+    def on_update(self, current_time, delta_time):
+        if delta_time <= 0: return
+        # 延迟初始化，确保physics准备好
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return  # 如果还没初始化成功，跳过本次更新
+        
+        self.apply_behavior()
 
     def on_play(self):
-        # Initialize simulation context
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        self._initialize_articulation()
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
+
+    def _get_scalar_value(self, value):
+        """将值转换为标量（支持torch tensor和普通数值）"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif hasattr(value, 'item'):
+            return value.item()
+        else:
+            return float(value)
     
+    def calculate_stiffness(self, joint_state, joint_limit):
+        """Calculate stiffness value based on joint angle (自动适配torch tensor或普通数值)"""
+        max_stiffness = 50
+        min_stiffness = 2
+        decay_rate = 3
+        threshold = 0.5 * self.joint_threshold
+        
+        # 转换为标量值进行比较
+        joint_state_scalar = self._get_scalar_value(joint_state)
+        
+        if joint_state_scalar < threshold:
+            return min_stiffness
+        
+        # 根据平台选择计算方式
+        if self.use_torch:
+            # Isaac Lab: 使用torch tensor计算
+            device = joint_state.device if isinstance(joint_state, torch.Tensor) else torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+            stiffness = max_stiffness * torch.exp(torch.tensor(-decay_rate * abs(joint_state_scalar), device=device))
+            stiffness = max(min_stiffness, min(stiffness.item(), max_stiffness))
+        else:
+            # Isaac Sim: 使用math计算
+            stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state_scalar))
+            stiffness = max(min_stiffness, min(stiffness, max_stiffness))
+        
+        return stiffness
+
     def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
         stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
+        for i, idx in enumerate(self.joint_indices):
+            joint_name = self.joint_names[i]
             joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
             joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+            joint_state = positions[idx]
+            joint_limit_diff = self.joint_limit_diffs[i]
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, joint_limit_diff))
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-            else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        for i, idx in enumerate(self.joint_indices):
+            joint_state = positions[idx]
+            # 转换为标量值进行比较
+            joint_state_scalar = self._get_scalar_value(joint_state)
             
+            if joint_state_scalar > 0.5 * self.joint_threshold:
+                targets.append(self.joint_limits[i]["upper"])
+            else:
+                targets.append(self.joint_limits[i]["lower"])
+        
+        # 根据平台选择不同的action创建方式
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(self.joint_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=self.joint_indices)
+        
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        """延迟初始化，在physics准备好后调用"""
+        if self.initialized:
+            return
         
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            print("self.art :", self.art)
+            self.art.initialize()
+            
+            # 检测返回类型：torch tensor 还是 numpy/普通数值
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+            
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            dof_limits = self.art.get_dof_limits().squeeze()
+            self.joint_limits = [{
+                "lower": dof_limits[idx, 0],
+                "upper": dof_limits[idx, 1]
+            } for idx in self.joint_indices]
+            self.joint_limit_diffs = [
+                abs(lim["upper"] - lim["lower"]) for lim in self.joint_limits
+            ]
+            self.initialized = True
+        except AttributeError as e:
+            # Physics还没准备好，下次再试
+            print(f"Physics not ready yet, will retry: {e}")
+            return
diff --git a/Articulated_objects/small_furniture/table/table_1/.thumbs/256x256/model_table_1.usd.png b/Articulated_objects/small_furniture/table/table_1/.thumbs/256x256/model_table_1.usd.png
index 243a54aba446421dff84f7da692ed834f9da3f24..0c576bb3a94442ee6d95b7b16659b903646ae00f 100644
--- a/Articulated_objects/small_furniture/table/table_1/.thumbs/256x256/model_table_1.usd.png
+++ b/Articulated_objects/small_furniture/table/table_1/.thumbs/256x256/model_table_1.usd.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f0a507c9d940ce4b451230ad5c5dae733f815884c4e3e109950edaf5a0099281
-size 39179
+oid sha256:a6c35615d4402675ee0054ffb04a824673d4696cbb200c4a9b7c359f0c7c324e
+size 30073
diff --git a/Articulated_objects/small_furniture/table/table_1/model_table_1.usd b/Articulated_objects/small_furniture/table/table_1/model_table_1.usd
index feaa87defeb43ce42b83b365ccaff7b45a2e48ab..e3a58763bb6f34653dececefe8cf6c88afce57a9 100644
--- a/Articulated_objects/small_furniture/table/table_1/model_table_1.usd
+++ b/Articulated_objects/small_furniture/table/table_1/model_table_1.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ec9b3ab15cc89307075dabb168671f53a68777e5253b227440d9689348c1f0c1
-size 1111541
+oid sha256:338f6ed18a56897d9ece69e66fb67303826af236baf9cb65a45b54ef8fca0d44
+size 1115244
diff --git a/Articulated_objects/small_furniture/table/table_1/resource/cabinet_control.py b/Articulated_objects/small_furniture/table/table_1/resource/cabinet_control.py
deleted file mode 100644
index 5682c9f4d393707c8c194ad2fe0a7fdb0a33c31f..0000000000000000000000000000000000000000
--- a/Articulated_objects/small_furniture/table/table_1/resource/cabinet_control.py
+++ /dev/null
@@ -1,185 +0,0 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
-
-def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
-    stage = omni.usd.get_context().get_stage()
-    prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
-            result = _find_prim(child)
-            if result:
-                return result
-        return None
-    
-    found_path = _find_prim(prim)
-    if not found_path:
-        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
-    return found_path
-
-def calculate_stiffness(joint_state, joint_limit):
-    """Calculate stiffness value based on joint angle
-    
-    Args:
-        joint_state (float): Joint angle (radians)
-        joint_limit (float): Joint limit value
-        
-    Returns:
-        float: Stiffness value
-    """
-    max_stiffness = 50 
-    min_stiffness = 2   
-    decay_rate = 3  
-    # threshold = math.radians(20) 
-    # threshold =  0.3 * joint_limit
-    threshold =  0.5 * joint_threshold
-    if joint_state > threshold:
-        return min_stiffness
-    stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-    return max(min_stiffness, min(stiffness, max_stiffness))
-        
-
-# 1. Articulation Root prim
-root_articulation_prim = find_prim_path_by_name("E_body_1")
-joint_threshold = -0.2
-
-# 2. Joint names 
-joint_names = ["PrismaticJoint_table_1_down","PrismaticJoint_table_1_up"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
-stage = omni.usd.get_context().get_stage()
-joints_info = {}
-
-# 3. Joint information
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
-
-
-# 4. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-
-
-class FilingDrawersControl(BehaviorScript):
-    def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
-
-    def on_play(self):
-        # Initialize simulation context
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
-    def apply_behavior(self):
-        self.target_pose_control()
-        self.damping_stiffness_change()
-    
-    def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
-    def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-            else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-            
-        
diff --git a/Articulated_objects/small_furniture/table/table_1/resource/table_control.py b/Articulated_objects/small_furniture/table/table_1/resource/table_control.py
new file mode 100644
index 0000000000000000000000000000000000000000..ad9b550422c0d95b61f461165cf1360d522c6c31
--- /dev/null
+++ b/Articulated_objects/small_furniture/table/table_1/resource/table_control.py
@@ -0,0 +1,174 @@
+import carb
+import math
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+    
+    def _find_prim(prim):
+        if prim.GetName() == prim_name:
+            return prim.GetPath().pathString
+        for child in prim.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+    
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+def calculate_stiffness(joint_state, joint_limit):
+    """Calculate stiffness value based on joint angle
+    
+    Args:
+        joint_state (float): Joint angle (radians)
+        joint_limit (float): Joint limit value
+        
+    Returns:
+        float: Stiffness value
+    """
+    max_stiffness = 50 
+    min_stiffness = 2   
+    decay_rate = 3  
+    # threshold = math.radians(20) 
+    # threshold =  0.3 * joint_limit
+    threshold =  0.5 * joint_threshold
+    if joint_state > threshold:
+        return min_stiffness
+    stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
+    return max(min_stiffness, min(stiffness, max_stiffness))
+        
+
+# 1. Articulation Root prim
+root_articulation_prim = find_prim_path_by_name("E_body_1")
+joint_threshold = -0.2
+
+# 2. Joint names 
+joint_names = ["PrismaticJoint_table_1_down","PrismaticJoint_table_1_up"]
+stage = omni.usd.get_context().get_stage()
+joints_info = {}
+
+# 3. Joint information
+for joint_name in joint_names:
+    joint_prim_path = find_prim_path_by_name(joint_name)
+    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+    joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
+    
+    joints_info[joint_name] = {
+        'prim': joint,
+        'lower_limit': joint.GetLowerLimitAttr().Get(),
+        'upper_limit': joint.GetUpperLimitAttr().Get()
+    }
+   
+# 4. Joint limits and limit differences
+joint_limits = {}
+joint_limit_diffs = {}
+
+for joint_name in joint_names:
+    joint_limits[joint_name] = {
+        'lower': joints_info[joint_name]['lower_limit'],
+        'upper': joints_info[joint_name]['upper_limit']
+    }
+    joint_limit_diffs[joint_name] = (
+        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
+    )
+
+
+class FilingDrawersControl(BehaviorScript):
+    def on_init(self):
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.use_torch = None
+        self.joint_indices = None
+        self.art = None
+        self.initialized = False
+
+    def on_play(self):
+        self._initialize_articulation()
+        self.simulation_context = SimulationContext(
+            stage_units_in_meters=1.0,
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
+        )
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
+    def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
+        self.target_pose_control()
+        self.damping_stiffness_change()
+
+    def damping_stiffness_change(self):
+        positions = self.art.get_joint_positions().squeeze()
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            joint = joints_info[joint_name]['prim']
+            joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+            joint_drive.GetStiffnessAttr().Set(
+                calculate_stiffness(joint_state, self.joint_limit_diffs[joint_name])
+            )
+
+    def target_pose_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        threshold_value = 0.5 * joint_threshold
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            limits = self.joint_limits[joint_name]
+            if joint_state > threshold_value:
+                targets.append(limits['upper'])
+            else:
+                targets.append(limits['lower'])
+            indices.append(self.joint_indices[idx])
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
diff --git a/Articulated_objects/small_furniture/table/table_3/.thumbs/256x256/model_table_3.usd.png b/Articulated_objects/small_furniture/table/table_3/.thumbs/256x256/model_table_3.usd.png
index 743301774bdedd5c411bafec8772b90f1b67f2f5..e1f8ee1903d4ee0e916e75d667a6d1b7b1f6e79c 100644
--- a/Articulated_objects/small_furniture/table/table_3/.thumbs/256x256/model_table_3.usd.png
+++ b/Articulated_objects/small_furniture/table/table_3/.thumbs/256x256/model_table_3.usd.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:93fdde31fd15a3a3ea7b10eb3dbc30bc82802f4a5f12229ffbf02334558851e6
-size 27929
+oid sha256:6ab51973742a73dbb445404a4f1fa75f5c28c347f744bc23d34c9debda8b8d27
+size 45671
diff --git a/Articulated_objects/small_furniture/table/table_3/model_table_3.usd b/Articulated_objects/small_furniture/table/table_3/model_table_3.usd
index cc4d4c629a28f6828e447fbef519f486baa5ec25..c17f2f2ff93ff6b1c400f93b2fb5d4729473b753 100644
--- a/Articulated_objects/small_furniture/table/table_3/model_table_3.usd
+++ b/Articulated_objects/small_furniture/table/table_3/model_table_3.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:27a8760ab1a8bbc976af090fca24a4a2d98f7d5ef146e3227f27282d1f9397a2
-size 1573844
+oid sha256:1abf467134dc1b9cd0ad9c1183774c0d843bf33e827f2c9d3a0035c78df7ba1d
+size 1576421
diff --git a/Articulated_objects/small_furniture/table/table_3/resource/table_control.py b/Articulated_objects/small_furniture/table/table_3/resource/table_control.py
index ac02fbd8ff8ac2b2611f7eb5d28cd252cdda7367..055e2ebdfc72708c5d541aeea6030e324fac2641 100644
--- a/Articulated_objects/small_furniture/table/table_3/resource/table_control.py
+++ b/Articulated_objects/small_furniture/table/table_3/resource/table_control.py
@@ -1,21 +1,12 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
@@ -65,8 +56,6 @@ joint_threshold = 0.4
 
 # 2. Joint names 
 joint_names = ["PrismaticJoint_table_3_left3","PrismaticJoint_table_3_left2","PrismaticJoint_table_3_left1","PrismaticJoint_table_3_left4","PrismaticJoint_table_3_right1","PrismaticJoint_table_3_right2","PrismaticJoint_table_3_right3","PrismaticJoint_table_3_right4"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
 
@@ -92,7 +81,7 @@ for joint_name in joint_names:
 joint_limits = {}
 joint_limit_diffs = {}
 
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
         'lower': joints_info[joint_name]['lower_limit'],
         'upper': joints_info[joint_name]['upper_limit']
@@ -100,88 +89,91 @@ for i, joint_name in enumerate(joint_names):
     joint_limit_diffs[joint_name] = (
         joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class TableControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.use_torch = None
+        self.joint_indices = None
+        self.art = None
+        self.initialized = False
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            joint = joints_info[joint_name]['prim']
+            joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+            joint_drive.GetStiffnessAttr().Set(
+                calculate_stiffness(joint_state, self.joint_limit_diffs[joint_name])
+            )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-                # print("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++")
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        threshold_value = 0.5 * joint_threshold
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            limits = self.joint_limits[joint_name]
+            if joint_state > threshold_value:
+                targets.append(limits['upper'])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-                # print("------------------------------------------------------------")
-        
+                targets.append(limits['lower'])
+            indices.append(self.joint_indices[idx])
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
diff --git a/Articulated_objects/small_furniture/table/table_4/resource/table_control.py b/Articulated_objects/small_furniture/table/table_4/resource/table_control.py
index 38bd1a309f3d26317432a241f6127cc8af8e63d5..d2fea9e488840236a1685abe0992f0b71e73cac9 100644
--- a/Articulated_objects/small_furniture/table/table_4/resource/table_control.py
+++ b/Articulated_objects/small_furniture/table/table_4/resource/table_control.py
@@ -1,21 +1,12 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
-
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
@@ -65,8 +56,6 @@ joint_threshold = -0.3
 
 # 2. Joint names 
 joint_names = ["PrismaticJoint_1","PrismaticJoint_2","PrismaticJoint_3","PrismaticJoint_4","PrismaticJoint_5"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
 
@@ -92,7 +81,7 @@ for joint_name in joint_names:
 joint_limits = {}
 joint_limit_diffs = {}
 
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
         'lower': joints_info[joint_name]['lower_limit'],
         'upper': joints_info[joint_name]['upper_limit']
@@ -100,88 +89,91 @@ for i, joint_name in enumerate(joint_names):
     joint_limit_diffs[joint_name] = (
         joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class TableControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.use_torch = None
+        self.joint_indices = None
+        self.art = None
+        self.initialized = False
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            joint = joints_info[joint_name]['prim']
+            joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+            joint_drive.GetStiffnessAttr().Set(
+                calculate_stiffness(joint_state, self.joint_limit_diffs[joint_name])
+            )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-                # print("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++")
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        threshold_value = 0.5 * joint_threshold
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            limits = self.joint_limits[joint_name]
+            if joint_state > threshold_value:
+                targets.append(limits['upper'])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-                # print("------------------------------------------------------------")
-        
+                targets.append(limits['lower'])
+            indices.append(self.joint_indices[idx])
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
diff --git a/Articulated_objects/small_furniture/table/table_5/resource/table_control.py b/Articulated_objects/small_furniture/table/table_5/resource/table_control.py
index 662d85a517a3811468060819dab01dcfb93c6b2d..a8b9d7712c147e0333178f450cee1b9bb7a1e1b2 100644
--- a/Articulated_objects/small_furniture/table/table_5/resource/table_control.py
+++ b/Articulated_objects/small_furniture/table/table_5/resource/table_control.py
@@ -1,20 +1,12 @@
 import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
 import math
-# import nvidia.srl.usd.prim_helper as prim_helper
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 
@@ -65,8 +57,6 @@ joint_threshold = 0.3
 
 # 2. Joint names 
 joint_names = ["PrismaticJoint_1","PrismaticJoint_2","PrismaticJoint_3","PrismaticJoint_4"]
-joint1_prim = find_prim_path_by_name(joint_names[0])
-# joint2_prim = find_prim_path_by_name(joint_names[1])
 stage = omni.usd.get_context().get_stage()
 joints_info = {}
 
@@ -81,18 +71,11 @@ for joint_name in joint_names:
         'lower_limit': joint.GetLowerLimitAttr().Get(),
         'upper_limit': joint.GetUpperLimitAttr().Get()
     }
-   
-# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
-# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
-# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
-# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
 
-
-# 4. Joint limits and limit differences
 joint_limits = {}
 joint_limit_diffs = {}
 
-for i, joint_name in enumerate(joint_names):
+for joint_name in joint_names:
     joint_limits[joint_name] = {
         'lower': joints_info[joint_name]['lower_limit'],
         'upper': joints_info[joint_name]['upper_limit']
@@ -100,88 +83,91 @@ for i, joint_name in enumerate(joint_names):
     joint_limit_diffs[joint_name] = (
         joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
     )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
 
 
 class TableControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-    def on_destroy(self):
-        pass
+        self.articulation_root_path = root_articulation_prim
+        self.joint_names = joint_names
+        self.joint_limits = joint_limits
+        self.joint_limit_diffs = joint_limit_diffs
+        self.use_torch = None
+        self.joint_indices = None
+        self.art = None
+        self.initialized = False
 
     def on_play(self):
-        # Initialize simulation context
         self.simulation_context = SimulationContext(
             stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
+            physics_dt=1.0 / 120,
+            rendering_dt=1.0 / 120,
         )
-       
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.target_pose_control()
         self.damping_stiffness_change()
-    
+
     def damping_stiffness_change(self):
-        stage = omni.usd.get_context().get_stage()
-        # Process all joints
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
-            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
-            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
-            # Get joint limit difference and set stiffness
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-            
+        positions = self.art.get_joint_positions().squeeze()
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            joint = joints_info[joint_name]['prim']
+            joint_drive = UsdPhysics.DriveAPI.Get(joint.GetPrim(), "linear")
+            joint_drive.GetStiffnessAttr().Set(
+                calculate_stiffness(joint_state, self.joint_limit_diffs[joint_name])
+            )
+
     def target_pose_control(self):
-        # Process all joints
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            # Get joint limit difference
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            # Set target position based on joint state
-            if joint_state >  0.5 * joint_threshold:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
-                # print("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++")
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+        threshold_value = 0.5 * joint_threshold
+        for idx, joint_name in enumerate(self.joint_names):
+            joint_state = self._get_scalar_value(positions[self.joint_indices[idx]])
+            limits = self.joint_limits[joint_name]
+            if joint_state > threshold_value:
+                targets.append(limits['upper'])
             else:
-                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
-                # print("------------------------------------------------------------")
-        
+                targets.append(limits['lower'])
+            indices.append(self.joint_indices[idx])
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
diff --git a/Articulated_objects/small_furniture/table/table_6/.thumbs/256x256/model_table_6.usd.png b/Articulated_objects/small_furniture/table/table_6/.thumbs/256x256/model_table_6.usd.png
index e09dd597e90e600fdbb5ea0f59d04fb100ad124e..64f89c39f58e2017459b117bd7180a2c4f1a7204 100644
--- a/Articulated_objects/small_furniture/table/table_6/.thumbs/256x256/model_table_6.usd.png
+++ b/Articulated_objects/small_furniture/table/table_6/.thumbs/256x256/model_table_6.usd.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d90e88e553742a027a695118015249b40d369cf93715f1d569279a8511aac371
-size 31387
+oid sha256:9cb5a4b5a5a081bbae43711b17dd53b85044cc4fa4ebf7696af29bd0b49b1d44
+size 9778
diff --git a/Articulated_objects/small_furniture/table/table_6/model_table_6.usd b/Articulated_objects/small_furniture/table/table_6/model_table_6.usd
index bc7e68a40269eb88b184e260e0c0ff195c66e029..c08a86e0e61ac6a749290ab943b51f586f2c6f6a 100644
--- a/Articulated_objects/small_furniture/table/table_6/model_table_6.usd
+++ b/Articulated_objects/small_furniture/table/table_6/model_table_6.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:19e69b480824536b28c1ecbc642ce9079e2a264729d688844ce30d251e3202fc
-size 91853
+oid sha256:0b86af5484cf063e072b4e707d0fea8657ded662c7becf581478817a7312ca3b
+size 95899
diff --git a/Articulated_objects/small_furniture/table/table_6/resource/table_control.py b/Articulated_objects/small_furniture/table/table_6/resource/table_control.py
new file mode 100644
index 0000000000000000000000000000000000000000..49c0c8e8bd3378924bd88572f327af5f783c6413
--- /dev/null
+++ b/Articulated_objects/small_furniture/table/table_6/resource/table_control.py
@@ -0,0 +1,137 @@
+import carb
+import math
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+    
+    def _find_prim(prim):
+        if prim.GetName() == prim_name:
+            return prim.GetPath().pathString
+        for child in prim.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+    
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_8"]
+JOINT_NAMES = [
+    "PrismaticJoint_table_6_up",
+    "PrismaticJoint_table_6_up1",
+    "PrismaticJoint_table_6_up2",
+    "PrismaticJoint_table_6_up3",
+    "PrismaticJoint_table_6_up4",
+    "PrismaticJoint_table_6_up5",
+    "PrismaticJoint_table_6_down",
+    
+]
+BUTTON_THRESHOLD = -0.002
+
+
+class TableControl(BehaviorScript):
+    def on_init(self):
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.joint_names = JOINT_NAMES
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
+
+    def on_play(self):
+        self._initialize_articulation()
+
+
+    def on_stop(self):
+        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
+    def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
+        self.table_control()
+
+    def table_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        button_indices = self.joint_indices[:6]
+        slider_indices = self.joint_indices[6:]
+
+        button_states = [self._get_scalar_value(positions[idx]) for idx in button_indices]
+        targets = None
+        if button_states[0] < BUTTON_THRESHOLD:
+            # print("button 1 pressed")   
+            targets = [0.0]
+        elif button_states[1] < BUTTON_THRESHOLD:
+            # print("button 2 pressed")
+            targets = [0.2]
+        elif button_states[2] < BUTTON_THRESHOLD:
+            # print("button 3 pressed")
+            targets = [0.1,]
+        elif button_states[3] < BUTTON_THRESHOLD:
+            # print("button 4 pressed")
+            targets = [0.07]
+        else:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(slider_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=slider_indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            # print("self.joint_names", self.joint_names)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+            return 
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
diff --git a/Articulated_objects/small_furniture/table/table_7/.thumbs/256x256/model_table_7.usd.png b/Articulated_objects/small_furniture/table/table_7/.thumbs/256x256/model_table_7.usd.png
index be6525868d0bd6096c9c0df2531b242ed75534d0..2273b0231002d3bca4969677f84c73d954f940a6 100644
--- a/Articulated_objects/small_furniture/table/table_7/.thumbs/256x256/model_table_7.usd.png
+++ b/Articulated_objects/small_furniture/table/table_7/.thumbs/256x256/model_table_7.usd.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:231632f0dd6479b1c78dff8086ab58d354c0b9bd7a0566cc3caf6cd8715acc9f
-size 16094
+oid sha256:4727bec825dadad462902f1bdd8a3519222083a72963377d69930a82d0d29bf7
+size 27480
diff --git a/Articulated_objects/small_furniture/table/table_7/model_table_7.usd b/Articulated_objects/small_furniture/table/table_7/model_table_7.usd
index 043537d45cf14ee44320aa0d51a0579b6f983150..d6b546987e012f8260dbc540454f1a45288334c0 100644
--- a/Articulated_objects/small_furniture/table/table_7/model_table_7.usd
+++ b/Articulated_objects/small_furniture/table/table_7/model_table_7.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:46c007d1aa52f34e1a71fd2ff4d0aa1d75bf0e644319a20805fe85dd77c10d9e
-size 27022
+oid sha256:5afb803761c60dfeef9914f7ce5ec881686b0ec57d2b4b10c51725ee335d4121
+size 33726
diff --git a/Articulated_objects/small_furniture/table/table_7/resource/.vscode/extensions.json b/Articulated_objects/small_furniture/table/table_7/resource/.vscode/extensions.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea614ed629affdd0d97abcc881b511d3de69a25c
--- /dev/null
+++ b/Articulated_objects/small_furniture/table/table_7/resource/.vscode/extensions.json
@@ -0,0 +1,8 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846
+	// for the documentation about the extensions.json format
+	"recommendations": [
+		"ms-python.python",
+		"ms-python.vscode-pylance"
+	],
+}
\ No newline at end of file
diff --git a/Articulated_objects/small_furniture/table/table_7/resource/.vscode/launch.json b/Articulated_objects/small_furniture/table/table_7/resource/.vscode/launch.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a22f73af48687152cef11e4098995885fcaff48
--- /dev/null
+++ b/Articulated_objects/small_furniture/table/table_7/resource/.vscode/launch.json
@@ -0,0 +1,25 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python: Attach (windows-x86_64/linux-x86_64)",
+            "type": "python",
+            "request": "attach",
+            "pathMappings": [
+            {
+                "localRoot": "${workspaceFolder}",
+                "remoteRoot": "${workspaceFolder}"
+            }],
+            "port": 3000,
+            "host": "127.0.0.1",
+            "subProcess": true,
+            "runtimeArgs": [
+                "--preserve-symlinks",
+                "--preserve-symlinks-main"
+            ]
+        }
+    ]
+}
diff --git a/Articulated_objects/small_furniture/table/table_7/resource/.vscode/settings.json b/Articulated_objects/small_furniture/table/table_7/resource/.vscode/settings.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a0b3e70ae6047c1977e3c9e8e368ed5c157fbc
--- /dev/null
+++ b/Articulated_objects/small_furniture/table/table_7/resource/.vscode/settings.json
@@ -0,0 +1,10 @@
+{
+    "editor.rulers": [120],
+    "python.languageServer": "Pylance",
+    "python.formatting.provider": "black",
+    "python.formatting.blackArgs": ["--line-length", "120"],
+    "python.linting.enabled": true,
+    "python.linting.pylintEnabled": false,
+    "python.linting.flake8Enabled": true,
+    "python.linting.flake8Args": ["--max-line-length=120"]
+}
diff --git a/Articulated_objects/small_furniture/table/table_7/resource/table_control.py b/Articulated_objects/small_furniture/table/table_7/resource/table_control.py
new file mode 100644
index 0000000000000000000000000000000000000000..36d006e0dba212632a55d17eac14acc1bab7cca3
--- /dev/null
+++ b/Articulated_objects/small_furniture/table/table_7/resource/table_control.py
@@ -0,0 +1,135 @@
+import carb
+import math
+import torch
+import omni.usd
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.core import SimulationContext
+from isaacsim.core.prims import Articulation
+from isaacsim.core.utils.types import ArticulationActions
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+    
+    def _find_prim(prim):
+        if prim.GetName() == prim_name:
+            return prim.GetPath().pathString
+        for child in prim.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+    
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+POSSIBLE_ASSET_ROOT_NAMES = ["E_body_2"]
+JOINT_NAMES = [
+    "PrismaticJoint_table_7_down_up2",
+    "PrismaticJoint_table_7_down_up",
+    "PrismaticJoint_table_7_down_up3",
+    "PrismaticJoint_table_7_down_up1",
+    "PrismaticJoint_table_7_down",
+    "PrismaticJoint_table_7_middle",
+]
+BUTTON_THRESHOLD = -0.002
+
+
+class TableControl(BehaviorScript):
+    def on_init(self):
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.joint_names = JOINT_NAMES
+        self.art = None
+        self.initialized = False
+        self.joint_indices = None
+        self.use_torch = None
+
+    def on_play(self):
+        self._initialize_articulation()
+
+
+    def on_stop(self):
+        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
+    def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
+        self.table_control()
+
+    def table_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        button_indices = self.joint_indices[:4]
+        slider_indices = self.joint_indices[4:]
+
+        button_states = [self._get_scalar_value(positions[idx]) for idx in button_indices]
+        targets = None
+        if button_states[0] < BUTTON_THRESHOLD:
+            # print("button 1 pressed")   
+            targets = [0.0, 0.0]
+        elif button_states[1] < BUTTON_THRESHOLD:
+            # print("button 2 pressed")
+            targets = [0.2, 0.2]
+        elif button_states[2] < BUTTON_THRESHOLD:
+            # print("button 3 pressed")
+            targets = [0.1, 0.0]
+        elif button_states[3] < BUTTON_THRESHOLD:
+            # print("button 4 pressed")
+            targets = [0.07, 0.0]
+        else:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(slider_indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=slider_indices)
+
+        self.art.apply_action(action)
+
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            # print("self.joint_names", self.joint_names)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as exc:
+            print(f"Physics not ready yet, will retry: {exc}")
+            return 
+
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
diff --git a/Articulated_objects/small_furniture/table/table_7/resource/trashcan_control.py b/Articulated_objects/small_furniture/table/table_7/resource/trashcan_control.py
deleted file mode 100644
index 998b285af2e50be61141866ee1dd0b1379041aa5..0000000000000000000000000000000000000000
--- a/Articulated_objects/small_furniture/table/table_7/resource/trashcan_control.py
+++ /dev/null
@@ -1,162 +0,0 @@
-import carb
-from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
-from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-from omni.isaac.core import SimulationContext, World
-# from isaacsim.core.prims import XFormPrim
-# stiffness :0.8 Damping: 0.05
-
-
-def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
-    stage = omni.usd.get_context().get_stage()
-    prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
-            result = _find_prim(child)
-            if result:
-                return result
-        return None
-    
-    found_path = _find_prim(prim)
-    if not found_path:
-        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
-    return found_path
-
-# # 1. prim init
-# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
-# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
-# # 2. articulation Root prim
-# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
-# # 3. joint name 
-# joint_names = ["PrismaticJoint", "RevoluteJoint"]
-# # 4. joint num
-# num_arm_dof = 2
-
-# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
-#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
-#             ]
-# for i in range(0, light_scopes.__len__()):
-#     light_scopes[i].set_visibility(False)
-# index = random.randint(0, len(light_scopes)-1)
-# light_scopes[index].set_visibility(True)
-# button_prim = XFormPrim(find_prim_path_by_name("E_pedal_17"))
-# print("button_prim", button_prim.prim_path)
-# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
-# print("door_prim", door_prim.prim_path)
-root_articulation_prim = find_prim_path_by_name("E_body_2")
-print("root_articulation_prim", root_articulation_prim)
-joint_names = ["PrismaticJoint_table_7_down_up2", "PrismaticJoint_table_7_down_up","PrismaticJoint_table_7_down_up3",
-"PrismaticJoint_table_7_down_up1","PrismaticJoint_table_7_down","PrismaticJoint_table_7_middle"]
-# light_scopes=[XFormPrim(find_prim_path_by_name("oven_light"))
-            # ]
-PrismaticJoint_path = find_prim_path_by_name("PrismaticJoint_table_7_down")
-
-
-class MicrowaveOverControl(BehaviorScript):
-    def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        # light_scopes[0].set_visibility(False) 
-        self.Stiffness_max = 0.8
-        self.Stiffness_min = 0.08
-        
-        # 初始化门的锁定状态
-        self.door_locked = True
-        
-        # init_pose
-        # self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        stage = omni.usd.get_context().get_stage()
-        self.revoluteJoint_drive_path = stage.GetPrimAtPath(PrismaticJoint_path)
-        self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "linear")
-   
-   
-    def on_destroy(self):
-        pass
-
-    def on_play(self):
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-
-
-    def on_pause(self):
-        pass
-
-    def on_stop(self):
-        self.init_start=True
-
-        self.door_locked = True
-        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
-        pass
-
-    def on_update(self, current_time: float, delta_time: float):
-        if delta_time <= 0:
-            return
-        self.dc = _dynamic_control.acquire_dynamic_control_interface()
-        self.active_art() 
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-        # print("self.joint_handles",self.joint_handles)
-    def apply_behavior(self):
-        self.trashcan_control()
-    def trashcan_control(self):
-
-        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        self.Joint2_state = self.dc.get_dof_state(self.joint_handles[2], _dynamic_control.STATE_ALL).pos
-        self.Joint3_state = self.dc.get_dof_state(self.joint_handles[3], _dynamic_control.STATE_ALL).pos
-        self.Joint4_state = self.dc.get_dof_state(self.joint_handles[4], _dynamic_control.STATE_ALL).pos
-        self.Joint5_state = self.dc.get_dof_state(self.joint_handles[5], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint0_state", self.Joint0_state)
-        # print("self.Joint1_state", self.Joint1_state)
-        # 按钮被按下且门处于锁定状态
-        if self.Joint0_state < -0.002:
-            self.dc.set_dof_position_target(self.joint_handles[4],0)
-            self.dc.set_dof_position_target(self.joint_handles[5],0)
-            # print("-----------------------按钮1---------------------")
-        elif self.Joint1_state < -0.002:
-            self.dc.set_dof_position_target(self.joint_handles[4],0.2)
-            self.dc.set_dof_position_target(self.joint_handles[5],0.2)
-            # print("-----------------------按钮2---------------------")
-        elif self.Joint2_state < -0.002:
-            self.dc.set_dof_position_target(self.joint_handles[4],0.1)
-            self.dc.set_dof_position_target(self.joint_handles[5],0)
-            # print("-----------------------按钮3---------------------")
-        elif self.Joint3_state < -0.002:
-            self.dc.set_dof_position_target(self.joint_handles[4],0.07)
-            self.dc.set_dof_position_target(self.joint_handles[5],0)
-            # print("-----------------------按钮4---------------------")	    
-
-                
diff --git a/Interactive_scene/kitchen/Interactive_kitchen.usd b/Interactive_scene/kitchen/Interactive_kitchen.usd
index d0f5bd9106a553695715012c3fb66deecbe2795e..b4f19a2e7bb02bdf65fefdc5f45ad78240f24d6f 100644
--- a/Interactive_scene/kitchen/Interactive_kitchen.usd
+++ b/Interactive_scene/kitchen/Interactive_kitchen.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5871db1e127039da9eb21234f0e11b29a74b3768e90b3c005205ca2b21a3fb21
-size 21177897
+oid sha256:80e9d2f667b18457c1286c27df489d3cc4bbd2cd9afe89632cc6bc4a7f6eca34
+size 21213136
diff --git a/Interactive_scene/kitchen/fridge/materials/textures/77bb7e13f95488b9bba205f61774cfac.png b/Interactive_scene/kitchen/fridge/materials/textures/77bb7e13f95488b9bba205f61774cfac.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ec446758d90977a3105f07e8dae329985b95ae1
--- /dev/null
+++ b/Interactive_scene/kitchen/fridge/materials/textures/77bb7e13f95488b9bba205f61774cfac.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ffd20ccaccf4be6fc5a67ad17da285152107852dff1a3c92e1ad44ceb54d30d
+size 317769
diff --git a/Interactive_scene/kitchen/fridge/materials/textures/85e802b65576ab52c15d2ad699874710.png b/Interactive_scene/kitchen/fridge/materials/textures/85e802b65576ab52c15d2ad699874710.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e85584815c018a034b4e23831745c1f0b027f3b
--- /dev/null
+++ b/Interactive_scene/kitchen/fridge/materials/textures/85e802b65576ab52c15d2ad699874710.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90f3a900835f50001809b0dd910f9d82ba8b69fbd7e5a49c261932cd7b586c30
+size 442669
diff --git a/Interactive_scene/kitchen/fridge/materials/textures/ba71f64c7269bdc410f2b92f325c6388.png b/Interactive_scene/kitchen/fridge/materials/textures/ba71f64c7269bdc410f2b92f325c6388.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b5c5fa3553d340d55950f17e8fcdba185f3e8f5
--- /dev/null
+++ b/Interactive_scene/kitchen/fridge/materials/textures/ba71f64c7269bdc410f2b92f325c6388.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0a1750ad3d039f94bd785258382a8ac731e892f20668a6af6dfec3d76f563ff
+size 287881
diff --git a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/.thumbs/256x256/model_oven03.usd.png b/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/.thumbs/256x256/model_oven03.usd.png
deleted file mode 100644
index 1e13e8f0731b7e4b4a553caff382bf2e8e882939..0000000000000000000000000000000000000000
--- a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/.thumbs/256x256/model_oven03.usd.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3201bc526a2ee5bacd91a40a1a01951dd0a091b342172030de789a5b7ff1f8fc
-size 43128
diff --git a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/Button.usdc b/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/Button.usdc
new file mode 100644
index 0000000000000000000000000000000000000000..27413ace322f6bc2a81b65a1bad038637539a30f
Binary files /dev/null and b/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/Button.usdc differ
diff --git a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/model_oven03.usd b/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/model_oven03.usd
index 12bb6f053208c46fce5707411adc34a5c4f311ec..0b65f43ccfe775e7ef49019e37f21b384e5c2c27 100644
--- a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/model_oven03.usd
+++ b/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/model_oven03.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4627bcf305b269b4f5888626a71a5e6c885c0ec98de0bceede394c3b1ecec361
-size 14961015
+oid sha256:6fcb0ef568629d829b8d390c0e32c474b1466412426b09648c7dfeb9c7e5f885
+size 8088322
diff --git a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/oven_control.py b/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/oven_control.py
index 3572424e0883a855a1b28674ae74854d56b67578..f1a7232653c79da13ced44041dbb03de1816ddff 100644
--- a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/oven_control.py
+++ b/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/oven_control.py
@@ -1,168 +1,163 @@
-import carb
+import numpy as np
+import torch
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from isaacsim.core.prims import Articulation
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
+from isaacsim.core.utils.types import ArticulationActions
+import omni.usd
+from pxr import UsdPhysics
 import math
-from omni.isaac.core import SimulationContext, World
-# from isaacsim.core.prims import XFormPrim
-
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
-    """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
-
-# # 1. prim init
-# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
-# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
-# # 2. articulation Root prim
-# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
-# # 3. joint name 
-# joint_names = ["PrismaticJoint", "RevoluteJoint"]
-# # 4. joint num
-# num_arm_dof = 2
-
-# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
-#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
-#             ]
-# for i in range(0, light_scopes.__len__()):
-#     light_scopes[i].set_visibility(False)
-# index = random.randint(0, len(light_scopes)-1)
-# light_scopes[index].set_visibility(True)
-button_prim = XFormPrim(find_prim_path_by_name("oven_E_button_5"))
-print("button_prim", button_prim.prim_path)
-# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
-# print("door_prim", door_prim.prim_path)
-root_articulation_prim = find_prim_path_by_name("oven_E_body_7")
-print("root_articulation_prim", root_articulation_prim)
-joint_names = ["PrismaticJoint_oven_button", "RevoluteJoint_oven_door"]
-light_scopes=[XFormPrim(find_prim_path_by_name("oven_light"))
-            ]
-revolutejoint_path = find_prim_path_by_name("RevoluteJoint_oven_door")
-
+POSSIBLE_ASSET_ROOT_NAMES = ["oven_E_body_7"]
+JOINT_NAMES = ["PrismaticJoint_oven_button", 
+               "RevoluteJoint_oven_door",
+               "oven_button"]
+BUTTON_PRESS_THRESHOLD = -0.003  # 原逻辑：数值更小视为按下
+BUTTON_PRESS_MODE = "less"        # 可用 "less"/"greater" 两种模式
+DOOR_TARGET_PRIMARY = math.radians(-50)
+DOOR_TARGET_SECONDARY = math.radians(-78)
 class MicrowaveOverControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False) 
-        self.Stiffness_max = 0.8
-        self.Stiffness_min = 0.08
-        
-        
-        # 初始化门的锁定状态
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.use_torch = None
+        self.button_target = None
+        self.door_target = None
         self.door_locked = True
-        
-        # init_pose
-        self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
+        self.button_press_threshold = BUTTON_PRESS_THRESHOLD
+        self.button_press_mode = BUTTON_PRESS_MODE
+        self.button_prim = XFormPrim(find_prim_path_by_name("oven_E_button_5"))
+        self.local_pose_button, self.local_rot_button = self.button_prim.get_local_pose()
+        light_path = find_prim_path_by_name("oven_light")
+        heating_light = find_prim_path_by_name("Heating_light")
+        self.light_scopes = [XFormPrim(light_path),XFormPrim(heating_light)]
+        self.light_scopes[0].set_visibility(False)
+        self.light_scopes[1].set_visibility(False)
+        revolute_path = find_prim_path_by_name("RevoluteJoint_oven_door")
         stage = omni.usd.get_context().get_stage()
-        self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
-        self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
-   
-   
-    def on_destroy(self):
-        pass
-
+        revolute_prim = stage.GetPrimAtPath(revolute_path)
+        self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(revolute_prim, "angular")
+        self.Stiffness_max = 0.8
+        self.Stiffness_min = 0.08
     def on_play(self):
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-
-
-    def on_pause(self):
-        pass
+        self._initialize_articulation()
 
     def on_stop(self):
-        self.init_start=True
-        light_scopes[0].set_visibility(False) 
-        # back to initial pose
-        # button_prim.set_local_pose(translation=self.local_pose_button)
-        # door_prim.set_local_pose(translation=self.local_pose_door)
+        self.button_target = 0.0
+        self.door_target = 0.0
+        self.heating_button_state = 0.0
         self.door_locked = True
-        self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
-        carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
-        pass
+        self.light_scopes[0].set_visibility(False)
+        self.light_scopes[1].set_visibility(False)
+        if self.revoluteJoint_drive:
+            self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
+        # carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.dc = _dynamic_control.acquire_dynamic_control_interface()
-        self.active_art() 
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-        # print("self.joint_handles",self.joint_handles)
-    def apply_behavior(self):
-        self.oven_control()
-    
-    def oven_control(self):
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self._control_door()
+    def _control_door(self):
+        positions = self.art.get_joint_positions().squeeze()
+        button_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        door_state = self._get_scalar_value(positions[self.joint_indices[1]])
+        heating_button_state = self._get_scalar_value(positions[self.joint_indices[2]])
+        if self.button_target is None:
+            self.button_target = button_state
+        if self.door_target is None:
+            self.door_target = door_state
 
-        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint0_state", self.Joint0_state)
-        # print("self.Joint1_state", self.Joint1_state)
-        # 按钮被按下且门处于锁定状态
-        if self.Joint0_state < -0.001 and self.door_locked:
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-50))
-            # if self.Joint1_state > math.radians(100):
-            #     self.door_locked = False  # 解除锁定
-        
-            # 门开到30度后开灯，按钮归位s
-            if self.Joint1_state < math.radians(-30) :
-                self.door_locked = False  # 解除锁定
-                light_scopes[0].set_visibility(True)
-                self.dc.set_dof_position_target(self.joint_handles[0], 0)
-                
-        if abs(self.Joint1_state - math.radians(-50)) < math.radians(0.5) :
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-78))
-            self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
-                
-        
-        # 检测手动关门
-        if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
+        if heating_button_state > math.radians(20):
+            self.light_scopes[1].set_visibility(True)
+        else:
+            self.light_scopes[1].set_visibility(False)
             
-            self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
-            self.door_locked = True
-            if self.Joint1_state < math.radians(5):  # 当门完全关闭时
-                # 锁定门
+        if self._button_pressed(button_state) and self.door_locked:
+            self.door_target = DOOR_TARGET_PRIMARY
+            if door_state < math.radians(-30):
+                self.door_locked = False
+                self.light_scopes[0].set_visibility(True)
+                self.button_target = 0.0
+        if abs(door_state - DOOR_TARGET_PRIMARY) < math.radians(0.5):
+            self.door_target = DOOR_TARGET_SECONDARY
+            if self.revoluteJoint_drive:
+                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
+        if door_state > math.radians(-20) and not self.door_locked:
+            self.door_target = 0.0
+            if door_state < math.radians(5):
                 self.door_locked = True
-                light_scopes[0].set_visibility(False)  # 关闭灯
-                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
+                self.button_target = 0.0
+                self.light_scopes[0].set_visibility(False)
+                if self.revoluteJoint_drive:
+                    self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
+        targets = []
+        indices = []
+        if self.button_target is not None:
+            targets.append(self.button_target)
+            indices.append(self.joint_indices[0])
+        if self.door_target is not None:
+            targets.append(self.door_target)
+            indices.append(self.joint_indices[1])
+        if not targets:
+            return
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+        self.art.apply_action(action)
+    def _button_pressed(self, value: float) -> bool:
+        if self.button_press_mode == "greater":
+            return value > self.button_press_threshold
+        return value < self.button_press_threshold
+    def _initialize_articulation(self):
+        if self.initialized:
+            return
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            self.art.initialize()
+            positions = self.art.get_joint_positions().squeeze()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            self.joint_indices = [self.art.get_dof_index(name) for name in self.joint_names]
+            self.initialized = True
+        except AttributeError as e:
+            print(f"Physics not ready yet, will retry: {e}")
+    def _get_scalar_value(self, value):
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        if hasattr(value, "item"):
+            return value.item()
+        return float(value)
\ No newline at end of file
diff --git a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/resource/material.usd b/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/resource/material.usd
index a610b235c59fe3f0b8f5ed6e11bad85bf3d0c7b9..4dc4c32a13dad9c7ea82245ffe4bd1c857b5cdf0 100644
--- a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/resource/material.usd
+++ b/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/resource/material.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:71fe418d6f510748a5c129ee91dd86dc7cbfaf0d087385224f976e83d179baa0
+oid sha256:a038bd39feee218425d9a150926e28638bf8cfcd48a3a855d2a434bed66ead2f
 size 3799
diff --git a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/resource/v_69323/link_0_0.usd b/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/resource/v_69323/link_0_0.usd
index 3083076823c4549a2fd4bd897328895462d40dad..8875e4f1ed0ebe101e3b0ba444bbb6aaede6ccdb 100644
--- a/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/resource/v_69323/link_0_0.usd
+++ b/Interactive_scene/kitchen/interactive_objects/Collected_model_oven_4.30/resource/v_69323/link_0_0.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0bcc661530df5b669e84b57131be3eff74088f4d77c503ef068e421dc441925b
+oid sha256:6e02f363ca173516d590d288e64145a8218fcb9026cedd7b2ea811fccddd133f
 size 8086558
diff --git a/Interactive_scene/kitchen/interactive_objects/script/fridge_control.py b/Interactive_scene/kitchen/interactive_objects/script/fridge_control.py
index ad9484e6aa1914ed4d51c4ab5c912ceaad54c9eb..191a544994cd33710e87ea10fa9d8c57f5e59073 100644
--- a/Interactive_scene/kitchen/interactive_objects/script/fridge_control.py
+++ b/Interactive_scene/kitchen/interactive_objects/script/fridge_control.py
@@ -1,241 +1,228 @@
 import carb
+import math
+import torch
+import numpy as np
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from isaacsim.core.prims import Articulation
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
 
-        
-# 1. prim init
-# joint_prim = XFormPrim(find_prim_path_by_name("fridge_E_body_61"))
-# right_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_right")
-# left_revolutejoint_path = find_prim_path_by_name("RevoluteJoint_fridge_left")
-
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("fridge_E_body_61")
-stage = omni.usd.get_context().get_stage()
-# 3. joint name 
-joint_names = ["RevoluteJoint_fridge_left","RevoluteJoint_fridge_right"]
-joint_threshold = 0.4
-# 4. Joint information
-joints_info = {}
-for joint_name in joint_names:
-    joint_prim_path = find_prim_path_by_name(joint_name)
-    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
-    joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
-    
-    joints_info[joint_name] = {
-        'prim': joint,
-        'lower_limit': joint.GetLowerLimitAttr().Get(),
-        'upper_limit': joint.GetUpperLimitAttr().Get()
-    }
-
-# 5. Joint limits and limit differences
-joint_limits = {}
-joint_limit_diffs = {}
-
-for i, joint_name in enumerate(joint_names):
-    joint_limits[joint_name] = {
-        'lower': joints_info[joint_name]['lower_limit'],
-        'upper': joints_info[joint_name]['upper_limit']
-    }
-    joint_limit_diffs[joint_name] = (
-        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
-    )
-# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
-# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
-# 5. light prim
-light_scopes=[
-     XFormPrim(find_prim_path_by_name("fridge_light"))
-]
+POSSIBLE_ASSET_ROOT_NAMES = ["fridge_E_body_61"]
+JOINT_NAMES = ["RevoluteJoint_fridge_left", "RevoluteJoint_fridge_right"]
+JOINT_THRESHOLD = 0.4
+LIGHT_PRIM_NAME = "fridge_light"
+
 
 class CupboardControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False)  
-        # light_scopes[1].set_visibility(False)
-        # init_pose
-        # self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.use_torch = None
+        self.joint_threshold = JOINT_THRESHOLD
+
+        self.light_scopes = [XFormPrim(find_prim_path_by_name(LIGHT_PRIM_NAME))]
+        self.light_scopes[0].set_visibility(False)
+
+        stage = omni.usd.get_context().get_stage()
+        self.joints_info = {}
+        for joint_name in self.joint_names:
+            joint_prim_path = find_prim_path_by_name(joint_name)
+            joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+            joint = UsdPhysics.RevoluteJoint(joint_prim_obj)
+            self.joints_info[joint_name] = {
+                "prim": joint,
+                "lower_limit": joint.GetLowerLimitAttr().Get(),
+                "upper_limit": joint.GetUpperLimitAttr().Get(),
+            }
 
     def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
+        self._initialize_articulation()
 
     def on_stop(self):
-        self.init_start=True
-        # for light in light_scopes:
-        #     light.set_visibility(False)
-        light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        # joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
+        self.light_scopes[0].set_visibility(False)
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.light_control()
         self.damping_stiffness_change()
         self.target_pose_control()
-        
-        
+
+    def _initialize_articulation(self):
+        """Initialize the articulation object and get joint information"""
+        if self.initialized:
+            return
+
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            if self.art is None:
+                return
+
+            # Get joint indices
+            self.joint_indices = []
+            for joint_name in self.joint_names:
+                idx = self.art.get_dof_index(joint_name)
+                if idx is not None:
+                    self.joint_indices.append(idx)
+                else:
+                    print(f"Warning: Could not find joint index for {joint_name}")
+
+            if not self.joint_indices:
+                print("Warning: No valid joint indices found")
+                return
+
+            # Detect if using torch
+            positions = self.art.get_joint_positions()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+
+            self.initialized = True
+        except Exception as e:
+            print(f"Error initializing articulation: {e}")
+            self.initialized = False
+
+    def _get_scalar_value(self, value):
+        """Convert a value (potentially a torch.Tensor) to a scalar float"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif isinstance(value, (list, tuple, np.ndarray)):
+            return float(value[0] if len(value) > 0 else 0.0)
+        else:
+            return float(value)
+
     def light_control(self):
-        self.left_joint_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.right_joint_state =  self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint1_state",self.Joint1_state)
-            # 联合判断双门状态
+        positions = self.art.get_joint_positions().squeeze()
+        left_joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        right_joint_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
         doors_open = [
-            self.left_joint_state > math.radians(30),
-            self.right_joint_state > math.radians(30)
+            left_joint_state > math.radians(30),
+            right_joint_state > math.radians(30)
         ]
 
-        # 灯光控制逻辑
-        current_visibility = light_scopes[0].get_visibility()
+        current_visibility = self.light_scopes[0].get_visibility()
         if any(doors_open):
             if not current_visibility:
-                for light in light_scopes:
+                for light in self.light_scopes:
                     light.set_visibility(True)
         else:
             if current_visibility:
-                for light in light_scopes:
+                for light in self.light_scopes:
                     light.set_visibility(False)
-                    
-        # if self.right_joint_state > math.radians(30) :
-        #     if light_scopes[0].get_visibility() == False:
-        #         for light in light_scopes:
-        #             light.set_visibility(True)
-        #         # self.dc.set_dof_position_target(self.joint_handles[1], 140)
-
-        # elif self.right_joint_state < math.radians(30):
-        #     if light_scopes[0].get_visibility() == True:
-        #         for light in light_scopes:
-        #             light.set_visibility(False)
-                # self.dc.set_dof_position_target(self.joint_handles[1], 0)
-
-    
+
     def damping_stiffness_change(self):
- 
-        for i, joint_name in enumerate(joint_names):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
-            # Get joint drive API
+        positions = self.art.get_joint_positions().squeeze()
+        stage = omni.usd.get_context().get_stage()
+
+        for i, joint_name in enumerate(self.joint_names):
+            if i >= len(self.joint_indices):
+                continue
+            joint_idx = self.joint_indices[i]
+            joint_state = self._get_scalar_value(positions[joint_idx])
+
             joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
             joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "angular")
-            # Get joint limit difference and set stiffness
-            
-            joint_limit_diff = joint_limit_diffs[joint_names[i]]
-            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state))
-            # stiffness = joint_drive.GetStiffnessAttr().Get()
-            # damping = joint_drive.GetDampingAttr().Get()
-            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
-    def calculate_stiffness(self,joint_state):
-        """Calculate stiffness value based on joint angle
-        
-        Args:
-            joint_state (float): Joint angle (radians)
-            joint_limit (float): Joint limit value
-            
-        Returns:
-            float: Stiffness value
-        """
-        max_stiffness = 20 # 最大刚度
-        # max_stiffness = 50 # 最大刚度
-        min_stiffness = 2   # 最小刚度
-        decay_rate = 3   # 衰减率
-        # 使用指数衰减函数计算刚度
-        if abs(joint_state) >= abs(math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit']))):
+            joint_drive.GetStiffnessAttr().Set(self.calculate_stiffness(joint_state, i))
+
+    def calculate_stiffness(self, joint_state, joint_idx):
+        """Calculate stiffness value based on joint angle"""
+        max_stiffness = 110
+        min_stiffness = 2
+        decay_rate = 8
+
+        joint_name = self.joint_names[joint_idx]
+        threshold_value = abs(math.radians(self.joint_threshold * (self.joints_info[joint_name]['upper_limit'] + self.joints_info[joint_name]['lower_limit'])))
+        if abs(joint_state) >= threshold_value:
             return min_stiffness
-        
-        # 计算刚度值：stiffness = max_stiffness * e^(-decay_rate * angle)
+
         stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
-        
-        # 确保刚度值在最小值和最大值之间
-        return max(min_stiffness, min(stiffness, max_stiffness))       
-    
+        return max(min_stiffness, min(stiffness, max_stiffness))
+
     def target_pose_control(self):
-        for i, joint_handle in enumerate(self.joint_handles):
-            # Get joint state
-            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
-            
-            # print("joint_state", joint_state)
-            # print("joints_info[joint_names[i]]['upper_limit']", joints_info[joint_names[i]]['upper_limit'])
-            # Get joint limit difference
-            # Set target position based on joint state                     
-            if abs(joints_info[joint_names[i]]['lower_limit']) <= math.radians(abs(joints_info[joint_names[i]]['upper_limit'])):
-                if joint_state > math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
+        positions = self.art.get_joint_positions().squeeze()
+        targets = []
+        indices = []
+
+        for i, joint_name in enumerate(self.joint_names):
+            if i >= len(self.joint_indices):
+                continue
+            joint_idx = self.joint_indices[i]
+            joint_state = self._get_scalar_value(positions[joint_idx])
+
+            lower_limit = self.joints_info[joint_name]['lower_limit']
+            upper_limit = self.joints_info[joint_name]['upper_limit']
+            threshold_value = math.radians(self.joint_threshold * (upper_limit + lower_limit))
+
+            if abs(lower_limit) <= math.radians(abs(upper_limit)):
+                if joint_state > threshold_value:
+                    target = math.radians(upper_limit)
                 else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+                    target = math.radians(lower_limit)
             else:
-                if joint_state < math.radians(joint_threshold * (joints_info[joint_names[i]]['upper_limit']+joints_info[joint_names[i]]['lower_limit'])):
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['lower_limit']))
+                if joint_state < threshold_value:
+                    target = math.radians(lower_limit)
                 else:
-                    self.dc.set_dof_position_target(joint_handle, math.radians(joints_info[joint_names[i]]['upper_limit']))
-            # print("self.dc.get_dof_position_target=",self.dc.get_dof_position_target(joint_handle))
+                    target = math.radians(upper_limit)
+
+            targets.append(target)
+            indices.append(joint_idx)
+
+        if not targets:
+            return
+
+        if self.use_torch:
+            device = positions.device
+            targets_tensor = torch.tensor(targets, device=device)
+            indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+            action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+        else:
+            action = ArticulationActions(targets, joint_indices=indices)
+
+        self.art.apply_action(action)
diff --git a/Interactive_scene/kitchen/interactive_objects/script/light_control.py b/Interactive_scene/kitchen/interactive_objects/script/light_control.py
index 66057fd940e52b859da71f515409bad10f8f1a77..d1bc09c9e077057537fb9a9e8e7d34f1c86ded58 100644
--- a/Interactive_scene/kitchen/interactive_objects/script/light_control.py
+++ b/Interactive_scene/kitchen/interactive_objects/script/light_control.py
@@ -1,152 +1,198 @@
 import carb
+import math
+import torch
+import numpy as np
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from isaacsim.core.prims import Articulation
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
+from isaacsim.core.utils.types import ArticulationActions
+
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-# 1. prim init
-joint_prim = XFormPrim(find_prim_path_by_name("switch_E_button_09"))
-print("joint_prim",joint_prim.prim_path)
 
-# 2. articulation Root prim
-root_articulation_prim = find_prim_path_by_name("switch_E_body_28")
-print("root_articulation_prim:",root_articulation_prim)
-# 3. joint name 
-joint_names = ["RevoluteJoint_switch"]
+POSSIBLE_ASSET_ROOT_NAMES = ["switch_E_body_28"]
+JOINT_NAMES = ["RevoluteJoint_switch"]
+LIGHT_PRIM_NAME = "kitchen_all_light"
+BUTTON_PRIM_NAME = "switch_E_button_09"
 
-# 5. light prim
-light_scopes=[
-    XFormPrim(find_prim_path_by_name("kitchen_all_light"))
-]
-print("light_scopes", light_scopes)
+SWITCH_ON_THRESHOLD = math.radians(11)
+SWITCH_ON_POSITION = math.radians(13)
+SWITCH_OFF_POSITION = math.radians(0)
 
 
 class RoomLightControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False)  
-        # init_pose
-        self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        # self.art = self.dc.get_articulation(root_articulation_prim)
-        # if self.art == _dynamic_control.INVALID_HANDLE:
-        #     print('the prim is not an articulation')
-   
-   
-    def on_destroy(self):
-        pass
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.use_torch = None
+
+        self.light_scopes = [XFormPrim(find_prim_path_by_name(LIGHT_PRIM_NAME))]
+        self.light_scopes[0].set_visibility(False)
+
+        self.joint_prim = XFormPrim(find_prim_path_by_name(BUTTON_PRIM_NAME))
+        print("joint_prim", self.joint_prim.prim_path)
+        self.local_pose_button, self.local_ort_button_down = self.joint_prim.get_local_pose()
 
     def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-        # 配置物理引擎参数
-        # print(self.simulation_context.get_physics_context().get_gravity())
-        # self.simulation_context.get_physics_context().set_broadphase_type("MBP")
-        # self.simulation_context.get_physics_context().set_solver_type("PGS")
-        # self.simulation_context.get_physics_context().enable_gpu_dynamics(False)
-       
-    def on_pause(self):
-        pass
+        self._initialize_articulation()
 
     def on_stop(self):
-        self.init_start=True
-        for light in light_scopes:
+        for light in self.light_scopes:
             light.set_visibility(False)
-        # light_scopes[0].set_visibility(False) 
-        # light_scopes[1].set_visibility(False) 
-        # back to initial pose
-        joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
+        self.joint_prim.set_local_pose(translation=self.local_pose_button)
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-    
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.light_control()
-        
-        
+
+    def _initialize_articulation(self):
+        """Initialize the articulation object and get joint information"""
+        if self.initialized:
+            return
+
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            if self.art is None:
+                return
+
+            # Get joint indices
+            self.joint_indices = []
+            for joint_name in self.joint_names:
+                idx = self.art.get_dof_index(joint_name)
+                if idx is not None:
+                    self.joint_indices.append(idx)
+                else:
+                    print(f"Warning: Could not find joint index for {joint_name}")
+
+            if not self.joint_indices:
+                print("Warning: No valid joint indices found")
+                return
+
+            # Detect if using torch
+            positions = self.art.get_joint_positions()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+
+            self.initialized = True
+        except Exception as e:
+            print(f"Error initializing articulation: {e}")
+            self.initialized = False
+
+    def _get_scalar_value(self, value):
+        """Convert a value (potentially a torch.Tensor) to a scalar float"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif isinstance(value, (list, tuple, np.ndarray)):
+            return float(value[0] if len(value) > 0 else 0.0)
+        else:
+            return float(value)
+
     def light_control(self):
         try:
-            # 获取当前开关状态
-            self.Joint1_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-            current_visibility = light_scopes[0].get_visibility()
-            
-            # 定义开关阈值和状态
-            SWITCH_ON_THRESHOLD = math.radians(11)
-            SWITCH_ON_POSITION = math.radians(13)
-            SWITCH_OFF_POSITION = math.radians(0)
-            
-            # 判断开关状态并控制灯光
-            if self.Joint1_state < SWITCH_ON_THRESHOLD:
+            positions = self.art.get_joint_positions()
+            # Handle both single joint and multiple joints cases
+            # If positions is a scalar (0-d), use it directly; otherwise index it
+            if isinstance(positions, torch.Tensor):
+                if positions.ndim == 0:
+                    # Scalar tensor
+                    joint_state = self._get_scalar_value(positions)
+                else:
+                    # Array tensor, use index
+                    joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+            elif isinstance(positions, np.ndarray):
+                if positions.ndim == 0:
+                    # Scalar array
+                    joint_state = self._get_scalar_value(positions)
+                else:
+                    # Array, use index
+                    joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+            else:
+                # List or other iterable, use index
+                joint_state = self._get_scalar_value(positions[self.joint_indices[0]])
+            current_visibility = self.light_scopes[0].get_visibility()
+
+            if joint_state < SWITCH_ON_THRESHOLD:
                 # 开关打开状态
                 if not current_visibility:
                     # 如果灯是关闭的，则打开所有灯
-                    for light in light_scopes:
+                    for light in self.light_scopes:
                         light.set_visibility(True)
                     # 设置开关到打开位置
-                    self.dc.set_dof_position_target(self.joint_handles[0], SWITCH_OFF_POSITION)
+                    target = SWITCH_OFF_POSITION
+                else:
+                    target = None
             else:
                 # 开关关闭状态
                 if current_visibility:
                     # 如果灯是打开的，则关闭所有灯
-                    for light in light_scopes:
+                    for light in self.light_scopes:
                         light.set_visibility(False)
                     # 设置开关到关闭位置
-                    self.dc.set_dof_position_target(self.joint_handles[0], SWITCH_ON_POSITION)
-                    
+                    target = SWITCH_ON_POSITION
+                else:
+                    target = None
+
+            if target is not None:
+                if self.use_torch:
+                    # Get device from positions, handling both tensor and scalar cases
+                    if isinstance(positions, torch.Tensor):
+                        device = positions.device
+                    else:
+                        # Fallback: use default device
+                        device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+                    targets_tensor = torch.tensor([target], device=device)
+                    indices_tensor = torch.tensor([self.joint_indices[0]], device=device, dtype=torch.long)
+                    action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+                else:
+                    action = ArticulationActions([target], joint_indices=[self.joint_indices[0]])
+                self.art.apply_action(action)
+
         except Exception as e:
             carb.log_error(f"Error in light control: {str(e)}")
             # 发生错误时确保灯光关闭
-            for light in light_scopes:
+            for light in self.light_scopes:
                 light.set_visibility(False)
diff --git a/Interactive_scene/kitchen/interactive_objects/script/open_door_for_0.py b/Interactive_scene/kitchen/interactive_objects/script/open_door_for_0.py
index 5d16293a3d7802655118ea2300fa9342a40e03d9..1f4ded78c78c459212f77a7b59a9e8025b37bf4b 100644
--- a/Interactive_scene/kitchen/interactive_objects/script/open_door_for_0.py
+++ b/Interactive_scene/kitchen/interactive_objects/script/open_door_for_0.py
@@ -1,127 +1,229 @@
 import carb
+import math
+import torch
+import numpy as np
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from isaacsim.core.prims import Articulation
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import Gf, Sdf, Usd, UsdGeom
-from omni.isaac.core import SimulationContext, World
-import math
-from omni.replicator.core import utils
+from isaacsim.core.utils.types import ArticulationActions
+
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-# 1. prim init
-joint_prim = XFormPrim(find_prim_path_by_name("Access_control_E_button_09"))
-print("joint_prim",joint_prim.prim_path)
 
-# 2. articulation Root prim
-onoff_root_articulation_prim = find_prim_path_by_name("Access_control_E_body_28")
-door_root_articulation_prim = find_prim_path_by_name("door_E_body_13")
-print("onoff_root_articulation_prim:",onoff_root_articulation_prim)
-# 3. joint name 
-onoff_joint_names = ["RevoluteJoint_access_control"]
-door_joint_name = ["PrismaticJoint_door_left","PrismaticJoint_door_right"]
+ONOFF_POSSIBLE_ASSET_ROOT_NAMES = ["Access_control_E_body_28"]
+DOOR_POSSIBLE_ASSET_ROOT_NAMES = ["door_E_body_13"]
+ONOFF_JOINT_NAMES = ["RevoluteJoint_access_control"]
+DOOR_JOINT_NAMES = ["PrismaticJoint_door_left", "PrismaticJoint_door_right"]
+BUTTON_PRIM_NAME = "Access_control_E_button_09"
+
+SWITCH_ON_THRESHOLD = math.radians(1)
+SWITCH_ON_POSITION = math.radians(13)
+SWITCH_OFF_POSITION = math.radians(0)
+DOOR_OPEN_LEFT = 0.65
+DOOR_OPEN_RIGHT = -0.65
+DOOR_CLOSED = 0.0
 
 
 class OpenDoorControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.onoff_joint_handles = []
-        self.door_joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
- 
-        # init_pose
-        self.local_pose_button, self.local_ort_button_down = joint_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-   
-   
-    def on_destroy(self):
-        pass
+        # Find onoff articulation root
+        onoff_articulation_root_path = None
+        for root_name in ONOFF_POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                onoff_articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found onoff articulation root: {onoff_articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if onoff_articulation_root_path is None:
+            raise RuntimeError(f"Could not find onoff articulation root with names: {ONOFF_POSSIBLE_ASSET_ROOT_NAMES}")
+
+        # Find door articulation root
+        door_articulation_root_path = None
+        for root_name in DOOR_POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                door_articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found door articulation root: {door_articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if door_articulation_root_path is None:
+            raise RuntimeError(f"Could not find door articulation root with names: {DOOR_POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.onoff_articulation_root_path = onoff_articulation_root_path
+        self.door_articulation_root_path = door_articulation_root_path
+        self.onoff_art = None
+        self.door_art = None
+        self.initialized = False
+        self.onoff_joint_names = ONOFF_JOINT_NAMES
+        self.door_joint_names = DOOR_JOINT_NAMES
+        self.onoff_joint_indices = None
+        self.door_joint_indices = None
+        self.use_torch = None
+
+        self.joint_prim = XFormPrim(find_prim_path_by_name(BUTTON_PRIM_NAME))
+        print("joint_prim", self.joint_prim.prim_path)
+        self.local_pose_button, self.local_ort_button_down = self.joint_prim.get_local_pose()
 
     def on_play(self):
-        # 
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-       
-    def on_pause(self):
-        pass
+        self._initialize_articulations()
 
     def on_stop(self):
-        self.init_start=True
-        joint_prim.set_local_pose(translation=self.local_pose_button)
-        pass
+        self.joint_prim.set_local_pose(translation=self.local_pose_button)
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.active_art()
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.onoff_art = self.dc.get_articulation(onoff_root_articulation_prim)
-        self.door_art = self.dc.get_articulation(door_root_articulation_prim)
-        if self.onoff_art == _dynamic_control.INVALID_HANDLE:
-            print('the  onoff_art prim is not an articulation')
-        self.dc.wake_up_articulation(self.onoff_art)
-        self.dc.wake_up_articulation(self.door_art)
-        # Find joint  
-        self.onoff_joint_handles = []
-        self.door_joint_handles = []
-        for joint_name in onoff_joint_names:
-            self.onoff_joint_handles.append( self.dc.find_articulation_dof(self.onoff_art, joint_name))
-        for joint_name in door_joint_name:
-            self.door_joint_handles.append( self.dc.find_articulation_dof(self.door_art, joint_name))
-        # print("self.door_joint_handles = []",self.door_joint_handles)
+        if not self.initialized:
+            self._initialize_articulations()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.onoff_art is None or self.door_art is None:
+            return
         self.door_control()
-        
-        
+
+    def _initialize_articulations(self):
+        """Initialize both articulation objects and get joint information"""
+        if self.initialized:
+            return
+
+        try:
+            # Initialize onoff articulation
+            self.onoff_art = Articulation(self.onoff_articulation_root_path)
+            if self.onoff_art is None:
+                return
+
+            self.onoff_joint_indices = []
+            for joint_name in self.onoff_joint_names:
+                idx = self.onoff_art.get_dof_index(joint_name)
+                if idx is not None:
+                    self.onoff_joint_indices.append(idx)
+                else:
+                    print(f"Warning: Could not find onoff joint index for {joint_name}")
+
+            if not self.onoff_joint_indices:
+                print("Warning: No valid onoff joint indices found")
+                return
+
+            # Initialize door articulation
+            self.door_art = Articulation(self.door_articulation_root_path)
+            if self.door_art is None:
+                return
+
+            self.door_joint_indices = []
+            for joint_name in self.door_joint_names:
+                idx = self.door_art.get_dof_index(joint_name)
+                if idx is not None:
+                    self.door_joint_indices.append(idx)
+                else:
+                    print(f"Warning: Could not find door joint index for {joint_name}")
+
+            if not self.door_joint_indices:
+                print("Warning: No valid door joint indices found")
+                return
+
+            # Detect if using torch (check both articulations)
+            onoff_positions = self.onoff_art.get_joint_positions()
+            self.use_torch = isinstance(onoff_positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+
+            self.initialized = True
+        except Exception as e:
+            print(f"Error initializing articulations: {e}")
+            self.initialized = False
+
+    def _get_scalar_value(self, value):
+        """Convert a value (potentially a torch.Tensor) to a scalar float"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif isinstance(value, (list, tuple, np.ndarray)):
+            return float(value[0] if len(value) > 0 else 0.0)
+        else:
+            return float(value)
+
     def door_control(self):
         try:
-            # 获取当前开关状态
-            self.Joint1_state = self.dc.get_dof_state(self.onoff_joint_handles[0], _dynamic_control.STATE_ALL).pos
-            
-            # 定义开关阈值和状态
-            SWITCH_ON_THRESHOLD = math.radians(1)
-            SWITCH_ON_POSITION = math.radians(13)
-            SWITCH_OFF_POSITION = math.radians(0)
-            # print("self.Joint1_state", self.Joint1_state)
-            # 判断开关状态并控制灯光
-            if self.Joint1_state > SWITCH_ON_THRESHOLD:
-                # print("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++")
-                self.dc.set_dof_position_target(self.onoff_joint_handles[0], SWITCH_ON_POSITION)
-                self.dc.set_dof_position_target(self.door_joint_handles[0], 0.65)
-                self.dc.set_dof_position_target(self.door_joint_handles[1], -0.65)
+            onoff_positions = self.onoff_art.get_joint_positions()
+            # Handle both single joint and multiple joints cases
+            if isinstance(onoff_positions, torch.Tensor):
+                if onoff_positions.ndim == 0:
+                    # Scalar tensor
+                    joint_state = self._get_scalar_value(onoff_positions)
+                else:
+                    # Array tensor, use index
+                    joint_state = self._get_scalar_value(onoff_positions[self.onoff_joint_indices[0]])
+            elif isinstance(onoff_positions, np.ndarray):
+                if onoff_positions.ndim == 0:
+                    # Scalar array
+                    joint_state = self._get_scalar_value(onoff_positions)
+                else:
+                    # Array, use index
+                    joint_state = self._get_scalar_value(onoff_positions[self.onoff_joint_indices[0]])
             else:
-                self.dc.set_dof_position_target(self.onoff_joint_handles[0], SWITCH_OFF_POSITION)
-                self.dc.set_dof_position_target(self.door_joint_handles[0], 0)
-                self.dc.set_dof_position_target(self.door_joint_handles[1], 0)
-                    
+                # List or other iterable, use index
+                joint_state = self._get_scalar_value(onoff_positions[self.onoff_joint_indices[0]])
+
+            if joint_state > SWITCH_ON_THRESHOLD:
+                # Switch on - open doors
+                onoff_target = SWITCH_ON_POSITION
+                door_targets = [DOOR_OPEN_LEFT, DOOR_OPEN_RIGHT]
+            else:
+                # Switch off - close doors
+                onoff_target = SWITCH_OFF_POSITION
+                door_targets = [DOOR_CLOSED, DOOR_CLOSED]
+
+            # Apply onoff action
+            if self.use_torch:
+                # Get device from positions, handling both tensor and scalar cases
+                if isinstance(onoff_positions, torch.Tensor):
+                    device = onoff_positions.device
+                else:
+                    device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+                onoff_targets_tensor = torch.tensor([onoff_target], device=device)
+                onoff_indices_tensor = torch.tensor([self.onoff_joint_indices[0]], device=device, dtype=torch.long)
+                onoff_action = ArticulationActions(joint_positions=onoff_targets_tensor, joint_indices=onoff_indices_tensor)
+            else:
+                onoff_action = ArticulationActions([onoff_target], joint_indices=[self.onoff_joint_indices[0]])
+            self.onoff_art.apply_action(onoff_action)
+
+            # Apply door action
+            door_positions = self.door_art.get_joint_positions()
+            if self.use_torch:
+                # Get device from positions, handling both tensor and scalar cases
+                if isinstance(door_positions, torch.Tensor):
+                    device = door_positions.device
+                else:
+                    device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
+                door_targets_tensor = torch.tensor(door_targets, device=device)
+                door_indices_tensor = torch.tensor(self.door_joint_indices, device=device, dtype=torch.long)
+                door_action = ArticulationActions(joint_positions=door_targets_tensor, joint_indices=door_indices_tensor)
+            else:
+                door_action = ArticulationActions(door_targets, joint_indices=self.door_joint_indices)
+            self.door_art.apply_action(door_action)
+
         except Exception as e:
             carb.log_error(f"Error in opendoor control: {str(e)}")
diff --git a/Interactive_scene/kitchen/interactive_objects/script/oven_control.py b/Interactive_scene/kitchen/interactive_objects/script/oven_control.py
index b3c70d51d06484cc5038a9d2ab878594a22e8420..85c33b017f26596ca22027e5638b95452f1cb73e 100644
--- a/Interactive_scene/kitchen/interactive_objects/script/oven_control.py
+++ b/Interactive_scene/kitchen/interactive_objects/script/oven_control.py
@@ -1,195 +1,206 @@
 import carb
+import math
+import torch
+import numpy as np
+import omni.usd
 from omni.kit.scripting import BehaviorScript
-from omni.isaac.dynamic_control import _dynamic_control
-from enum import Enum
-from pxr import Gf
-from threading import Thread
-import marshal,json
-import omni.kit.commands
+from isaacsim.core.prims import Articulation
 from omni.isaac.core.prims import XFormPrim
-import numpy as np
-from pxr import PhysxSchema, UsdGeom, UsdPhysics
-import math
-from omni.isaac.core import SimulationContext, World
-# from isaacsim.core.prims import XFormPrim
-# stiffness :0.8 Damping: 0.05
+from isaacsim.core.utils.types import ArticulationActions
+from pxr import UsdPhysics
 
 
 def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
     """Recursively find the full path by Prim name"""
     stage = omni.usd.get_context().get_stage()
     prim = stage.GetPrimAtPath(root_path)
-    
-    def _find_prim(prim):
-        if prim.GetName() == prim_name:
-            return prim.GetPath().pathString
-        for child in prim.GetChildren():
+
+    def _find_prim(current):
+        if current.GetName() == prim_name:
+            return current.GetPath().pathString
+        for child in current.GetChildren():
             result = _find_prim(child)
             if result:
                 return result
         return None
-    
+
     found_path = _find_prim(prim)
     if not found_path:
         raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
     return found_path
 
-# # 1. prim init
-# button_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Xform")
-# door_prim = XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_door")
-# # 2. articulation Root prim
-# root_articulation_prim = "/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/oven/oven_base"
-# # 3. joint name 
-# joint_names = ["PrismaticJoint", "RevoluteJoint"]
-# # 4. joint num
-# num_arm_dof = 2
-
-# light_scopes=[XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on"),
-#             XFormPrim("/sm_warehouse_a01_h10m_cornerout_01/micro_wave_oven_2/Lights_on_1"),
-#             ]
-# for i in range(0, light_scopes.__len__()):
-#     light_scopes[i].set_visibility(False)
-# index = random.randint(0, len(light_scopes)-1)
-# light_scopes[index].set_visibility(True)
-button_prim = XFormPrim(find_prim_path_by_name("oven_E_button_5"))
-print("button_prim", button_prim.prim_path)
-# door_prim = XFormPrim(find_prim_path_by_name("oven_E_door_4"))
-# print("door_prim", door_prim.prim_path)
-root_articulation_prim = find_prim_path_by_name("oven_E_body_7")
-print("root_articulation_prim", root_articulation_prim)
-joint_names = ["PrismaticJoint_oven_down", "RevoluteJoint_oven_up"]
-light_scopes=[XFormPrim(find_prim_path_by_name("oven_light"))
-            ]
-revolutejoint_path = find_prim_path_by_name("RevoluteJoint_oven_up")
+
+POSSIBLE_ASSET_ROOT_NAMES = ["oven_E_body_7"]
+JOINT_NAMES = ["PrismaticJoint_oven_down", "RevoluteJoint_oven_up"]
+LIGHT_PRIM_NAME = "oven_light"
+BUTTON_PRIM_NAME = "oven_E_button_5"
+REVOLUTE_JOINT_NAME = "RevoluteJoint_oven_up"
+
+STIFFNESS_MAX = 0.8
+STIFFNESS_MIN = 0.08
+
+BUTTON_PRESS_THRESHOLD = -0.001
+DOOR_OPEN_ANGLE_1 = math.radians(-50)
+DOOR_OPEN_ANGLE_2 = math.radians(-78)
+DOOR_OPEN_THRESHOLD = math.radians(-30)
+DOOR_CLOSE_THRESHOLD = math.radians(-20)
+DOOR_CLOSED_THRESHOLD = math.radians(5)
+DOOR_ANGLE_TOLERANCE = math.radians(0.5)
 
 
 class MicrowaveOverControl(BehaviorScript):
     def on_init(self):
-        self.phsx_freq = 120
-        self.joint_handles = []
-        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
-        light_scopes[0].set_visibility(False) 
-        self.Stiffness_max = 0.8
-        self.Stiffness_min = 0.08
-        
-        # 初始化门的锁定状态
+        articulation_root_path = None
+        for root_name in POSSIBLE_ASSET_ROOT_NAMES:
+            try:
+                articulation_root_path = find_prim_path_by_name(root_name)
+                print(f"Found articulation root: {articulation_root_path}")
+                break
+            except RuntimeError:
+                continue
+
+        if articulation_root_path is None:
+            raise RuntimeError(f"Could not find articulation root with names: {POSSIBLE_ASSET_ROOT_NAMES}")
+
+        self.articulation_root_path = articulation_root_path
+        self.art = None
+        self.initialized = False
+        self.joint_names = JOINT_NAMES
+        self.joint_indices = None
+        self.use_torch = None
+
+        self.light_scopes = [XFormPrim(find_prim_path_by_name(LIGHT_PRIM_NAME))]
+        self.light_scopes[0].set_visibility(False)
+
+        self.Stiffness_max = STIFFNESS_MAX
+        self.Stiffness_min = STIFFNESS_MIN
         self.door_locked = True
-        
-        # init_pose
-        self.local_pose_button, self.local_ort_drawer_down = button_prim.get_local_pose()
-        # self.local_pose_door, self.local_ort_drawer_up = door_prim.get_local_pose()
-        
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
+
+        self.button_prim = XFormPrim(find_prim_path_by_name(BUTTON_PRIM_NAME))
+        print("button_prim", self.button_prim.prim_path)
+        self.local_pose_button, self.local_ort_drawer_down = self.button_prim.get_local_pose()
+
         stage = omni.usd.get_context().get_stage()
+        revolutejoint_path = find_prim_path_by_name(REVOLUTE_JOINT_NAME)
         self.revoluteJoint_drive_path = stage.GetPrimAtPath(revolutejoint_path)
         self.revoluteJoint_drive = UsdPhysics.DriveAPI.Get(self.revoluteJoint_drive_path, "angular")
-   
-   
-    def on_destroy(self):
-        pass
 
     def on_play(self):
-        self.simulation_context = SimulationContext(
-            stage_units_in_meters=1.0,
-            physics_dt=1.0/120,
-            rendering_dt=1.0/120
-        )
-
-
-    def on_pause(self):
-        pass
+        self._initialize_articulation()
 
     def on_stop(self):
-        self.init_start=True
-        light_scopes[0].set_visibility(False) 
-        # back to initial pose
-        # button_prim.set_local_pose(translation=self.local_pose_button)
-        # door_prim.set_local_pose(translation=self.local_pose_door)
+        self.light_scopes[0].set_visibility(False)
         self.door_locked = True
+        if self.revoluteJoint_drive:
+            self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
         carb.log_info(f"{type(self).__name__}.on_stop()->{self.prim_path}")
-        pass
 
     def on_update(self, current_time: float, delta_time: float):
         if delta_time <= 0:
             return
-        self.dc = _dynamic_control.acquire_dynamic_control_interface()
-        self.active_art() 
-        self.apply_behavior() 
-
-    def active_art(self):
-        # Find Root
-        self.art = self.dc.get_articulation(root_articulation_prim)
-        if self.art == _dynamic_control.INVALID_HANDLE:
-            print('the prim is not an articulation')
-        self.dc.wake_up_articulation(self.art)
-        
-        # Find joint  
-        self.joint_handles = []
-        for joint_name in joint_names:
-            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
-        # print("self.joint_handles",self.joint_handles)
+        if not self.initialized:
+            self._initialize_articulation()
+            if not self.initialized:
+                return
+        self.apply_behavior()
+
     def apply_behavior(self):
+        if not self.initialized or self.art is None:
+            return
         self.oven_control()
-    
-    # def oven_control(self):
-    #     self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-    #     self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-    #     # print("self.Joint0_state", self.Joint0_state)
-    #     # print("self.Joint1_state", self.Joint1_state)
-    #     # 按钮被按下且门处于锁定状态
-    #     if self.Joint0_state < -0.001 and self.door_locked:
-    #         self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-90))
-    #         # if self.Joint1_state > math.radians(100):
-    #         #     self.door_locked = False  # 解除锁定
-        
-    #         # 门开到30度后开灯，按钮归位s
-    #         if self.Joint1_state < math.radians(-30) :
-    #             self.door_locked = False  # 解除锁定
-    #             light_scopes[0].set_visibility(True)
-    #             self.dc.set_dof_position_target(self.joint_handles[0], 0)
-        
-    #     # 检测手动关门
-    #     if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
-            
-    #         self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
-    #         self.door_locked = True
-    #         if self.Joint1_state < math.radians(5):  # 当门完全关闭时
-    #             # 锁定门
-    #             self.door_locked = True
-    #             light_scopes[0].set_visibility(False)  # 关闭灯
+
+    def _initialize_articulation(self):
+        """Initialize the articulation object and get joint information"""
+        if self.initialized:
+            return
+
+        try:
+            self.art = Articulation(self.articulation_root_path)
+            if self.art is None:
+                return
+
+            # Get joint indices
+            self.joint_indices = []
+            for joint_name in self.joint_names:
+                idx = self.art.get_dof_index(joint_name)
+                if idx is not None:
+                    self.joint_indices.append(idx)
+                else:
+                    print(f"Warning: Could not find joint index for {joint_name}")
+
+            if not self.joint_indices or len(self.joint_indices) < 2:
+                print("Warning: No valid joint indices found")
+                return
+
+            # Detect if using torch
+            positions = self.art.get_joint_positions()
+            self.use_torch = isinstance(positions, torch.Tensor)
+            print(f"Detected platform: {'Isaac Lab (torch)' if self.use_torch else 'Isaac Sim (numpy/math)'}")
+
+            self.initialized = True
+        except Exception as e:
+            print(f"Error initializing articulation: {e}")
+            self.initialized = False
+
+    def _get_scalar_value(self, value):
+        """Convert a value (potentially a torch.Tensor) to a scalar float"""
+        if isinstance(value, torch.Tensor):
+            return value.item()
+        elif isinstance(value, (list, tuple, np.ndarray)):
+            return float(value[0] if len(value) > 0 else 0.0)
+        else:
+            return float(value)
+
     def oven_control(self):
+        positions = self.art.get_joint_positions().squeeze()
+        button_state = self._get_scalar_value(positions[self.joint_indices[0]])
+        door_state = self._get_scalar_value(positions[self.joint_indices[1]])
+
+        targets = []
+        indices = []
 
-        self.Joint0_state = self.dc.get_dof_state(self.joint_handles[0], _dynamic_control.STATE_ALL).pos
-        self.Joint1_state = self.dc.get_dof_state(self.joint_handles[1], _dynamic_control.STATE_ALL).pos
-        # print("self.Joint0_state", self.Joint0_state)
-        # print("self.Joint1_state", self.Joint1_state)
         # 按钮被按下且门处于锁定状态
-        if self.Joint0_state < -0.001 and self.door_locked:
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-50))
-            # if self.Joint1_state > math.radians(100):
-            #     self.door_locked = False  # 解除锁定
-        
-            # 门开到30度后开灯，按钮归位s
-            if self.Joint1_state < math.radians(-30) :
-                self.door_locked = False  # 解除锁定
-                light_scopes[0].set_visibility(True)
-                self.dc.set_dof_position_target(self.joint_handles[0], 0)
-                
-        if abs(self.Joint1_state - math.radians(-50)) < math.radians(0.5) :
-            self.dc.set_dof_position_target(self.joint_handles[1], math.radians(-78))
-            self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
-                
-        
+        if button_state < BUTTON_PRESS_THRESHOLD and self.door_locked:
+            targets.append(DOOR_OPEN_ANGLE_1)
+            indices.append(self.joint_indices[1])
+
+            # 门开到30度后开灯，按钮归位
+            if door_state < DOOR_OPEN_THRESHOLD:
+                self.door_locked = False
+                self.light_scopes[0].set_visibility(True)
+                targets.append(0.0)
+                indices.append(self.joint_indices[0])
+            else:
+                # Keep button target
+                targets.append(button_state)
+                indices.append(self.joint_indices[0])
+
+        # 门到达第一个目标角度后，继续开到第二个角度
+        if abs(door_state - DOOR_OPEN_ANGLE_1) < DOOR_ANGLE_TOLERANCE:
+            targets.append(DOOR_OPEN_ANGLE_2)
+            indices.append(self.joint_indices[1])
+            if self.revoluteJoint_drive:
+                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_min)
+
         # 检测手动关门
-        if self.Joint1_state > math.radians(-20) and not self.door_locked:  # 当门接近关闭位置时
-            
-            self.dc.set_dof_position_target(self.joint_handles[1], 0)  # 设置目标位置为0
+        if door_state > DOOR_CLOSE_THRESHOLD and not self.door_locked:
+            targets.append(0.0)
+            indices.append(self.joint_indices[1])
             self.door_locked = True
-            if self.Joint1_state < math.radians(5):  # 当门完全关闭时
+
+            if door_state < DOOR_CLOSED_THRESHOLD:
                 # 锁定门
                 self.door_locked = True
-                light_scopes[0].set_visibility(False)  # 关闭灯
-                self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
\ No newline at end of file
+                self.light_scopes[0].set_visibility(False)
+                if self.revoluteJoint_drive:
+                    self.revoluteJoint_drive.GetStiffnessAttr().Set(self.Stiffness_max)
+
+        if targets:
+            if self.use_torch:
+                device = positions.device
+                targets_tensor = torch.tensor(targets, device=device)
+                indices_tensor = torch.tensor(indices, device=device, dtype=torch.long)
+                action = ArticulationActions(joint_positions=targets_tensor, joint_indices=indices_tensor)
+            else:
+                action = ArticulationActions(targets, joint_indices=indices)
+            self.art.apply_action(action)
diff --git a/README.md b/README.md
index 33418eae970c020b1f8d67aeb3c6010ac1179497..d4b261e9bc7f7fcfe21448d2c57c28cf388eb3a4 100755
--- a/README.md
+++ b/README.md
@@ -26,6 +26,7 @@ Formats:
 [![Paper](https://img.shields.io/badge/Hugging_Face-Paper-yellow.svg)](https://huggingface.co/papers/2506.04941)
 
 
+## 🎉🎉🎉 ArtVIP is accepted by ICLR 2026
 
 ## Key Features 
 
@@ -67,7 +68,7 @@ Formats:
     </p>
   </div>
 
-</div>
+</div>****
 
 ---
 ## [Version History](./assets/Release_history.md) 
@@ -76,8 +77,9 @@ Formats:
 
 | Version | Release Date | Description                                                                 | Highlights |
 |---------|--------------|-----------------------------------------------------------------------------|------------|
-| v1.1    | 2024-08      |  Optimized the details of interactive scenes.                                       | ✅ Modify interactive scene joint drive configuration<br>✅Optimize collision volume decomposition within interactive scenes <br> ✅Including 48 modular interactive objects |
-| v1.0    | 2024-06      | Initial release of ArtVIP dataset                                           | ✅ 206 articulated objects<br>✅ 6 interactive scenes<br>✅ 6 digital twin scenes<br> |
+| v1.2    | 2026-03      | Added new asset categories and simplified USD joint control code.           | ✅ Added 37 IKEA furniture assets (`Ikea_furniture`)<br>✅ Added 15 medical equipment assets (`Medical_equipment`)<br>✅ Simplified USD joint control code |
+| v1.1    | 2025-08      |  Optimized the details of interactive scenes.                                       | ✅ Modify interactive scene joint drive configuration<br>✅Optimize collision volume decomposition within interactive scenes <br> ✅Including 48 modular interactive objects |
+| v1.0    | 2025-06      | Initial release of ArtVIP dataset                                           | ✅ 206 articulated objects<br>✅ 6 interactive scenes<br>✅ 6 digital twin scenes<br> |
 
 ### Dataset Information
 
diff --git a/Scenes/kitchen/kitchen.usd b/Scenes/kitchen/kitchen.usd
index 9298214b4e6909d5374d78a930488133bd672c96..1fc6d0c5852e04319141f9f9d909b60f262f397a 100644
--- a/Scenes/kitchen/kitchen.usd
+++ b/Scenes/kitchen/kitchen.usd
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:345fc9f45504a504121f38cd91515a168dd7f341e57b0c8cdb18611bb6f27d0e
-size 76863303
+oid sha256:f9fdcf34ef9385657582b40b2949d7df947898b9ec7d2526d3d735bf8522a64b
+size 76874028