Upload folder using huggingface_hub

.agents/skills/hf-cli/SKILL.md

@@ -0,0 +1,174 @@
+---
+name: hf-cli
+description: "Hugging Face Hub CLI (`hf`) for downloading, uploading, and managing repositories, models, datasets, and Spaces on the Hugging Face Hub. Replaces now deprecated `huggingface-cli` command."
+---
+
+Install: `curl -LsSf https://hf.co/cli/install.sh | bash -s`.
+
+The Hugging Face Hub CLI tool `hf` is available. IMPORTANT: The `hf` command replaces the deprecated `huggingface-cli` command.
+
+Use `hf --help` to view available functions. Note that auth commands are now all under `hf auth` e.g. `hf auth whoami`.
+
+Generated with `huggingface_hub v1.7.2`. Run `hf skills add --force` to regenerate.
+
+## Commands
+
+- `hf download REPO_ID` — Download files from the Hub. `[--type CHOICE --revision TEXT --include TEXT --exclude TEXT --cache-dir TEXT --local-dir TEXT --force-download --dry-run --quiet --max-workers INTEGER]`
+- `hf env` — Print information about the environment.
+- `hf sync` — Sync files between local directory and a bucket. `[--delete --ignore-times --ignore-sizes --plan TEXT --apply TEXT --dry-run --include TEXT --exclude TEXT --filter-from TEXT --existing --ignore-existing --verbose --quiet]`
+- `hf upload REPO_ID` — Upload a file or a folder to the Hub. Recommended for single-commit uploads. `[--type CHOICE --revision TEXT --private --include TEXT --exclude TEXT --delete TEXT --commit-message TEXT --commit-description TEXT --create-pr --every FLOAT --quiet]`
+- `hf upload-large-folder REPO_ID LOCAL_PATH` — Upload a large folder to the Hub. Recommended for resumable uploads. `[--type CHOICE --revision TEXT --private --include TEXT --exclude TEXT --num-workers INTEGER --no-report --no-bars]`
+- `hf version` — Print information about the hf version.
+
+### `hf auth` — Manage authentication (login, logout, etc.).
+
+- `hf auth list` — List all stored access tokens.
+- `hf auth login` — Login using a token from huggingface.co/settings/tokens. `[--add-to-git-credential --force]`
+- `hf auth logout` — Logout from a specific token. `[--token-name TEXT]`
+- `hf auth switch` — Switch between access tokens. `[--token-name TEXT --add-to-git-credential]`
+- `hf auth whoami` — Find out which huggingface.co account you are logged in as. `[--format CHOICE]`
+
+### `hf buckets` — Commands to interact with buckets.
+
+- `hf buckets cp SRC` — Copy a single file to or from a bucket. `[--quiet]`
+- `hf buckets create BUCKET_ID` — Create a new bucket. `[--private --exist-ok --quiet]`
+- `hf buckets delete BUCKET_ID` — Delete a bucket. `[--yes --missing-ok --quiet]`
+- `hf buckets info BUCKET_ID` — Get info about a bucket. `[--quiet]`
+- `hf buckets list` — List buckets or files in a bucket. `[--human-readable --tree --recursive --format CHOICE --quiet]`
+- `hf buckets move FROM_ID TO_ID` — Move (rename) a bucket to a new name or namespace.
+- `hf buckets remove ARGUMENT` — Remove files from a bucket. `[--recursive --yes --dry-run --include TEXT --exclude TEXT --quiet]`
+- `hf buckets sync` — Sync files between local directory and a bucket. `[--delete --ignore-times --ignore-sizes --plan TEXT --apply TEXT --dry-run --include TEXT --exclude TEXT --filter-from TEXT --existing --ignore-existing --verbose --quiet]`
+
+### `hf cache` — Manage local cache directory.
+
+- `hf cache list` — List cached repositories or revisions. `[--cache-dir TEXT --revisions --filter TEXT --format CHOICE --quiet --sort CHOICE --limit INTEGER]`
+- `hf cache prune` — Remove detached revisions from the cache. `[--cache-dir TEXT --yes --dry-run]`
+- `hf cache rm TARGETS` — Remove cached repositories or revisions. `[--cache-dir TEXT --yes --dry-run]`
+- `hf cache verify REPO_ID` — Verify checksums for a single repo revision from cache or a local directory. `[--type CHOICE --revision TEXT --cache-dir TEXT --local-dir TEXT --fail-on-missing-files --fail-on-extra-files]`
+
+### `hf collections` — Interact with collections on the Hub.
+
+- `hf collections add-item COLLECTION_SLUG ITEM_ID ITEM_TYPE` — Add an item to a collection. `[--note TEXT --exists-ok]`
+- `hf collections create TITLE` — Create a new collection on the Hub. `[--namespace TEXT --description TEXT --private --exists-ok]`
+- `hf collections delete COLLECTION_SLUG` — Delete a collection from the Hub. `[--missing-ok]`
+- `hf collections delete-item COLLECTION_SLUG ITEM_OBJECT_ID` — Delete an item from a collection. `[--missing-ok]`
+- `hf collections info COLLECTION_SLUG` — Get info about a collection on the Hub. Output is in JSON format.
+- `hf collections list` — List collections on the Hub. `[--owner TEXT --item TEXT --sort CHOICE --limit INTEGER --format CHOICE --quiet]`
+- `hf collections update COLLECTION_SLUG` — Update a collection's metadata on the Hub. `[--title TEXT --description TEXT --position INTEGER --private --theme TEXT]`
+- `hf collections update-item COLLECTION_SLUG ITEM_OBJECT_ID` — Update an item in a collection. `[--note TEXT --position INTEGER]`
+
+### `hf datasets` — Interact with datasets on the Hub.
+
+- `hf datasets info DATASET_ID` — Get info about a dataset on the Hub. Output is in JSON format. `[--revision TEXT --expand TEXT]`
+- `hf datasets list` — List datasets on the Hub. `[--search TEXT --author TEXT --filter TEXT --sort CHOICE --limit INTEGER --expand TEXT --format CHOICE --quiet]`
+- `hf datasets parquet DATASET_ID` — List parquet file URLs available for a dataset. `[--subset TEXT --split TEXT --format CHOICE --quiet]`
+- `hf datasets sql SQL` — Execute a raw SQL query with DuckDB against dataset parquet URLs. `[--format CHOICE]`
+
+### `hf discussions` — Manage discussions and pull requests on the Hub.
+
+- `hf discussions close REPO_ID NUM` — Close a discussion or pull request. `[--comment TEXT --yes --type CHOICE]`
+- `hf discussions comment REPO_ID NUM` — Comment on a discussion or pull request. `[--body TEXT --body-file PATH --type CHOICE]`
+- `hf discussions create REPO_ID --title TEXT` — Create a new discussion or pull request on a repo. `[--body TEXT --body-file PATH --pull-request --type CHOICE]`
+- `hf discussions diff REPO_ID NUM` — Show the diff of a pull request. `[--type CHOICE]`
+- `hf discussions info REPO_ID NUM` — Get info about a discussion or pull request. `[--comments --diff --no-color --type CHOICE --format CHOICE]`
+- `hf discussions list REPO_ID` — List discussions and pull requests on a repo. `[--status CHOICE --kind CHOICE --author TEXT --limit INTEGER --type CHOICE --format CHOICE --quiet]`
+- `hf discussions merge REPO_ID NUM` — Merge a pull request. `[--comment TEXT --yes --type CHOICE]`
+- `hf discussions rename REPO_ID NUM NEW_TITLE` — Rename a discussion or pull request. `[--type CHOICE]`
+- `hf discussions reopen REPO_ID NUM` — Reopen a closed discussion or pull request. `[--comment TEXT --yes --type CHOICE]`
+
+### `hf endpoints` — Manage Hugging Face Inference Endpoints.
+
+- `hf endpoints catalog deploy --repo TEXT` — Deploy an Inference Endpoint from the Model Catalog. `[--name TEXT --accelerator TEXT --namespace TEXT]`
+- `hf endpoints catalog list` — List available Catalog models.
+- `hf endpoints delete NAME` — Delete an Inference Endpoint permanently. `[--namespace TEXT --yes]`
+- `hf endpoints deploy NAME --repo TEXT --framework TEXT --accelerator TEXT --instance-size TEXT --instance-type TEXT --region TEXT --vendor TEXT` — Deploy an Inference Endpoint from a Hub repository. `[--namespace TEXT --task TEXT --min-replica INTEGER --max-replica INTEGER --scale-to-zero-timeout INTEGER --scaling-metric CHOICE --scaling-threshold FLOAT]`
+- `hf endpoints describe NAME` — Get information about an existing endpoint. `[--namespace TEXT]`
+- `hf endpoints list` — Lists all Inference Endpoints for the given namespace. `[--namespace TEXT --format CHOICE --quiet]`
+- `hf endpoints pause NAME` — Pause an Inference Endpoint. `[--namespace TEXT]`
+- `hf endpoints resume NAME` — Resume an Inference Endpoint. `[--namespace TEXT --fail-if-already-running]`
+- `hf endpoints scale-to-zero NAME` — Scale an Inference Endpoint to zero. `[--namespace TEXT]`
+- `hf endpoints update NAME` — Update an existing endpoint. `[--namespace TEXT --repo TEXT --accelerator TEXT --instance-size TEXT --instance-type TEXT --framework TEXT --revision TEXT --task TEXT --min-replica INTEGER --max-replica INTEGER --scale-to-zero-timeout INTEGER --scaling-metric CHOICE --scaling-threshold FLOAT]`
+
+### `hf extensions` — Manage hf CLI extensions.
+
+- `hf extensions exec NAME` — Execute an installed extension.
+- `hf extensions install REPO_ID` — Install an extension from a public GitHub repository. `[--force]`
+- `hf extensions list` — List installed extension commands. `[--format CHOICE --quiet]`
+- `hf extensions remove NAME` — Remove an installed extension.
+- `hf extensions search` — Search extensions available on GitHub (tagged with 'hf-extension' topic). `[--format CHOICE --quiet]`
+
+### `hf jobs` — Run and manage Jobs on the Hub.
+
+- `hf jobs cancel JOB_ID` — Cancel a Job `[--namespace TEXT]`
+- `hf jobs hardware` — List available hardware options for Jobs
+- `hf jobs inspect JOB_IDS` — Display detailed information on one or more Jobs `[--namespace TEXT]`
+- `hf jobs logs JOB_ID` — Fetch the logs of a Job. `[--follow --tail INTEGER --namespace TEXT]`
+- `hf jobs ps` — List Jobs. `[--all --namespace TEXT --filter TEXT --format TEXT --quiet]`
+- `hf jobs run IMAGE COMMAND` — Run a Job. `[--env TEXT --secrets TEXT --label TEXT --env-file TEXT --secrets-file TEXT --flavor CHOICE --timeout TEXT --detach --namespace TEXT]`
+- `hf jobs scheduled delete SCHEDULED_JOB_ID` — Delete a scheduled Job. `[--namespace TEXT]`
+- `hf jobs scheduled inspect SCHEDULED_JOB_IDS` — Display detailed information on one or more scheduled Jobs `[--namespace TEXT]`
+- `hf jobs scheduled ps` — List scheduled Jobs `[--all --namespace TEXT --filter TEXT --format TEXT --quiet]`
+- `hf jobs scheduled resume SCHEDULED_JOB_ID` — Resume (unpause) a scheduled Job. `[--namespace TEXT]`
+- `hf jobs scheduled run SCHEDULE IMAGE COMMAND` — Schedule a Job. `[--suspend --concurrency --env TEXT --secrets TEXT --label TEXT --env-file TEXT --secrets-file TEXT --flavor CHOICE --timeout TEXT --namespace TEXT]`
+- `hf jobs scheduled suspend SCHEDULED_JOB_ID` — Suspend (pause) a scheduled Job. `[--namespace TEXT]`
+- `hf jobs scheduled uv run SCHEDULE SCRIPT` — Run a UV script (local file or URL) on HF infrastructure `[--suspend --concurrency --image TEXT --flavor CHOICE --env TEXT --secrets TEXT --label TEXT --env-file TEXT --secrets-file TEXT --timeout TEXT --namespace TEXT --with TEXT --python TEXT]`
+- `hf jobs stats` — Fetch the resource usage statistics and metrics of Jobs `[--namespace TEXT]`
+- `hf jobs uv run SCRIPT` — Run a UV script (local file or URL) on HF infrastructure `[--image TEXT --flavor CHOICE --env TEXT --secrets TEXT --label TEXT --env-file TEXT --secrets-file TEXT --timeout TEXT --detach --namespace TEXT --with TEXT --python TEXT]`
+
+### `hf models` — Interact with models on the Hub.
+
+- `hf models info MODEL_ID` — Get info about a model on the Hub. Output is in JSON format. `[--revision TEXT --expand TEXT]`
+- `hf models list` — List models on the Hub. `[--search TEXT --author TEXT --filter TEXT --num-parameters TEXT --sort CHOICE --limit INTEGER --expand TEXT --format CHOICE --quiet]`
+
+### `hf papers` — Interact with papers on the Hub.
+
+- `hf papers list` — List daily papers on the Hub. `[--date TEXT --sort CHOICE --limit INTEGER --format CHOICE --quiet]`
+
+### `hf repos` — Manage repos on the Hub.
+
+- `hf repos branch create REPO_ID BRANCH` — Create a new branch for a repo on the Hub. `[--revision TEXT --type CHOICE --exist-ok]`
+- `hf repos branch delete REPO_ID BRANCH` — Delete a branch from a repo on the Hub. `[--type CHOICE]`
+- `hf repos create REPO_ID` — Create a new repo on the Hub. `[--type CHOICE --space-sdk TEXT --private --exist-ok --resource-group-id TEXT]`
+- `hf repos delete REPO_ID` — Delete a repo from the Hub. This is an irreversible operation. `[--type CHOICE --missing-ok]`
+- `hf repos delete-files REPO_ID PATTERNS` — Delete files from a repo on the Hub. `[--type CHOICE --revision TEXT --commit-message TEXT --commit-description TEXT --create-pr]`
+- `hf repos duplicate FROM_ID` — Duplicate a repo on the Hub (model, dataset, or Space). `[--type CHOICE --private --exist-ok]`
+- `hf repos move FROM_ID TO_ID` — Move a repository from a namespace to another namespace. `[--type CHOICE]`
+- `hf repos settings REPO_ID` — Update the settings of a repository. `[--gated CHOICE --private --type CHOICE]`
+- `hf repos tag create REPO_ID TAG` — Create a tag for a repo. `[--message TEXT --revision TEXT --type CHOICE]`
+- `hf repos tag delete REPO_ID TAG` — Delete a tag for a repo. `[--yes --type CHOICE]`
+- `hf repos tag list REPO_ID` — List tags for a repo. `[--type CHOICE]`
+
+### `hf skills` — Manage skills for AI assistants.
+
+- `hf skills add` — Download a skill and install it for an AI assistant. `[--claude --codex --cursor --opencode --global --dest PATH --force]`
+- `hf skills preview` — Print the generated SKILL.md to stdout.
+
+### `hf spaces` — Interact with spaces on the Hub.
+
+- `hf spaces dev-mode SPACE_ID` — Enable or disable dev mode on a Space. `[--stop]`
+- `hf spaces hot-reload SPACE_ID` — Hot-reload any Python file of a Space without a full rebuild + restart. `[--local-file TEXT --skip-checks --skip-summary]`
+- `hf spaces info SPACE_ID` — Get info about a space on the Hub. Output is in JSON format. `[--revision TEXT --expand TEXT]`
+- `hf spaces list` — List spaces on the Hub. `[--search TEXT --author TEXT --filter TEXT --sort CHOICE --limit INTEGER --expand TEXT --format CHOICE --quiet]`
+
+### `hf webhooks` — Manage webhooks on the Hub.
+
+- `hf webhooks create --watch TEXT` — Create a new webhook. `[--url TEXT --job-id TEXT --domain CHOICE --secret TEXT]`
+- `hf webhooks delete WEBHOOK_ID` — Delete a webhook permanently. `[--yes]`
+- `hf webhooks disable WEBHOOK_ID` — Disable an active webhook.
+- `hf webhooks enable WEBHOOK_ID` — Enable a disabled webhook.
+- `hf webhooks info WEBHOOK_ID` — Show full details for a single webhook as JSON.
+- `hf webhooks list` — List all webhooks for the current user. `[--format CHOICE --quiet]`
+- `hf webhooks update WEBHOOK_ID` — Update an existing webhook. Only provided options are changed. `[--url TEXT --watch TEXT --domain CHOICE --secret TEXT]`
+
+## Common options
+
+- `--format` — Output format: `--format json` (or `--json`) or `--format table` (default).
+- `-q / --quiet` — Minimal output.
+- `--revision` — Git revision id which can be a branch name, a tag, or a commit hash.
+- `--token` — Use a User Access Token. Prefer setting `HF_TOKEN` env var instead of passing `--token`.
+- `--type` — The type of repository (model, dataset, or space).
+
+## Tips
+
+- Use `hf <command> --help` for full options, descriptions, usage, and real-world examples
+- Authenticate with `HF_TOKEN` env var (recommended) or with `--token`

grippers/franka_panda/controller_info.json

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+    "transfer_close_dir": [-2,-2],
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+    "palm_pose": [0, 0, -0.066, 1, 0, 0, 0]
+}

grippers/franka_panda/franka_panda.usd

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+size 770169

grippers/franka_panda/gripper_info.json

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+{
+    "EF_axis": 3, 
+    "physics_frequency": 240,
+    "contact_names": ["panda_hand", "panda_leftfinger", "panda_rightfinger"],
+    "contact_th":2,
+    "opened_dofs": [0.04, 0.04],
+    "palm_pose": [0, 0, -0.066, 1, 0, 0, 0]
+}

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objects/015f2c7f-ad68-4a1b-8f79-3295ad4c6e52/config.yaml

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+asset_path: /home/cedric/Research/IsaacLab/test/isaac/unprocesses/xml/015f2c7f-ad68-4a1b-8f79-3295ad4c6e52/libero_living_room_table.xml
+usd_dir: /home/cedric/Research/IsaacLab/test/isaac/processes/xml/015f2c7f-ad68-4a1b-8f79-3295ad4c6e52
+usd_file_name: libero_living_room_table.usd
+force_usd_conversion: true
+make_instanceable: true
+import_inertia_tensor: true
+fix_base: false
+import_sites: true
+self_collision: false
+link_density: 0.0
+##
+# Generated by MjcfConverter on 2025-12-16 at 21:06:42.
+##

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objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/Isaac Sim 4.5/isaac-sim-assets/Materials/2023_2_1/Base/Glass/Clear_Glass.mdl

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+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());
+*/

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+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846
+	// for the documentation about the extensions.json format
+	"recommendations": [
+		"ms-python.python",
+		"ms-python.vscode-pylance"
+	],
+}

objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/.vscode/launch.json

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+{
+    // 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"
+            ]
+        }
+    ]
+}

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+{
+    "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"]
+}

objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/cabinet_control.py

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+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 = 30 
+    min_stiffness = 2   
+    decay_rate = 3  
+    # threshold = math.radians(20) 
+    # threshold =  0.3 * joint_limit
+    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")
+
+# 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()
+    }
+   
+# 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 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
+
+    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 > -0.1:
+                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']) 
+            
+