From af088f593216f7215310cf5e3a13a259d7320a63 Mon Sep 17 00:00:00 2001
From: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Date: Fri, 6 Sep 2024 12:49:34 -0400
Subject: [PATCH] Expands on articulation test for multiple instances and
 devices (#872)

# Description

Expands upon `test_articulation.py` to test with mulitple robots and on
both CPU / GPU.

Fixes #861

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
---
 .../test/assets/test_articulation.py          | 1219 ++++++++++-------
 1 file changed, 707 insertions(+), 512 deletions(-)

diff --git a/source/extensions/omni.isaac.lab/test/assets/test_articulation.py b/source/extensions/omni.isaac.lab/test/assets/test_articulation.py
index f96dfc4882..5cd67dfa52 100644
--- a/source/extensions/omni.isaac.lab/test/assets/test_articulation.py
+++ b/source/extensions/omni.isaac.lab/test/assets/test_articulation.py
@@ -10,8 +10,10 @@
 
 from omni.isaac.lab.app import AppLauncher, run_tests
 
+HEADLESS = True
+
 # launch omniverse app
-app_launcher = AppLauncher(headless=True)
+app_launcher = AppLauncher(headless=HEADLESS)
 simulation_app = app_launcher.app
 
 """Rest everything follows."""
@@ -19,13 +21,15 @@
 import ctypes
 import torch
 import unittest
+from typing import Literal
 
-import omni.isaac.core.utils.stage as stage_utils
+import omni.isaac.core.utils.prims as prim_utils
 
 import omni.isaac.lab.sim as sim_utils
 import omni.isaac.lab.utils.string as string_utils
 from omni.isaac.lab.actuators import ImplicitActuatorCfg
 from omni.isaac.lab.assets import Articulation, ArticulationCfg
+from omni.isaac.lab.sim import build_simulation_context
 from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR
 
 ##
@@ -34,569 +38,760 @@
 from omni.isaac.lab_assets import ANYMAL_C_CFG, FRANKA_PANDA_CFG, SHADOW_HAND_CFG  # isort:skip
 
 
+def generate_articulation_cfg(
+    articulation_type: Literal["humanoid", "panda", "anymal", "shadow_hand", "single_joint"],
+    stiffness: float | None = 10.0,
+    damping: float | None = 2.0,
+) -> ArticulationCfg:
+    """Generate an articulation configuration.
+
+    Args:
+        articulation_type: Type of articulation to generate.
+        stiffness: Stiffness value for the articulation's actuators. Only currently used for humanoid.
+        damping: Damping value for the articulation's actuators. Only currently used for humanoid.
+
+    Returns:
+        The articulation configuration for the requested articulation type.
+
+    """
+    if articulation_type == "humanoid":
+        articulation_cfg = ArticulationCfg(
+            spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Humanoid/humanoid_instanceable.usd"),
+            init_state=ArticulationCfg.InitialStateCfg(pos=(0.0, 0.0, 1.34)),
+            actuators={"body": ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness=stiffness, damping=damping)},
+        )
+    elif articulation_type == "panda":
+        articulation_cfg = FRANKA_PANDA_CFG
+    elif articulation_type == "anymal":
+        articulation_cfg = ANYMAL_C_CFG
+    elif articulation_type == "shadow_hand":
+        articulation_cfg = SHADOW_HAND_CFG
+    elif articulation_type == "single_joint":
+        articulation_cfg = ArticulationCfg(
+            spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Simple/revolute_articulation.usd"),
+            actuators={
+                "joint": ImplicitActuatorCfg(
+                    joint_names_expr=[".*"],
+                    effort_limit=400.0,
+                    velocity_limit=100.0,
+                    stiffness=0.0,
+                    damping=10.0,
+                ),
+            },
+        )
+    else:
+        raise ValueError(
+            f"Invalid articulation type: {articulation_type}, valid options are 'humanoid', 'panda', 'anymal',"
+            " 'shadow_hand' and 'single_joint'."
+        )
+
+    return articulation_cfg
+
+
+def generate_articulation(
+    articulation_cfg: ArticulationCfg, num_articulations: int, device: str
+) -> tuple[Articulation, torch.tensor]:
+    """Generate an articulation from a configuration.
+
+    Handles the creation of the articulation, the environment prims and the articulation's environment
+    translations
+
+    Args:
+        articulation_cfg: Articulation configuration.
+        num_articulations: Number of articulations to generate.
+        device: Device to use for the tensors.
+
+    Returns:
+        The articulation and environment translations.
+
+    """
+    # Generate translations of 1.5m in x for each articulation
+    translations = torch.zeros(num_articulations, 3, device=device)
+    translations[:, 0] = torch.arange(num_articulations) * 1.5
+
+    # Create Top-level Xforms, one for each articulation
+    for i in range(num_articulations):
+        prim_utils.create_prim(f"/World/Env_{i}", "Xform", translation=translations[i][:3])
+    articulation = Articulation(articulation_cfg.replace(prim_path="/World/Env_.*/Robot"))
+
+    return articulation, translations
+
+
 class TestArticulation(unittest.TestCase):
     """Test for articulation class."""
 
-    def setUp(self):
-        """Create a blank new stage for each test."""
-        # Create a new stage
-        stage_utils.create_new_stage()
-        # Simulation time-step
-        self.dt = 0.005
-        # Load kit helper
-        sim_cfg = sim_utils.SimulationCfg(dt=self.dt, device="cuda:0")
-        self.sim = sim_utils.SimulationContext(sim_cfg)
-
-    def tearDown(self):
-        """Stops simulator after each test."""
-        # stop simulation
-        self.sim.stop()
-        # clear the stage
-        self.sim.clear_all_callbacks()
-        self.sim.clear_instance()
-
     """
     Tests
     """
 
     def test_initialization_floating_base_non_root(self):
-        """Test initialization for a floating-base with articulation root on a rigid body
+        """Test initialization for a floating-base with articulation root on a rigid body.
         under the provided prim path."""
-        # Create articulation
-        robot_cfg = ArticulationCfg(
-            prim_path="/World/Robot",
-            spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Humanoid/humanoid_instanceable.usd"),
-            init_state=ArticulationCfg.InitialStateCfg(pos=(0.0, 0.0, 1.34)),
-            actuators={"body": ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness=0.0, damping=0.0)},
-        )
-        robot = Articulation(cfg=robot_cfg)
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Play sim
-        self.sim.reset()
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Check if robot is initialized
-        self.assertTrue(robot.is_initialized)
-        # Check that floating base
-        self.assertFalse(robot.is_fixed_base)
-        # Check buffers that exists and have correct shapes
-        self.assertTrue(robot.data.root_pos_w.shape == (1, 3))
-        self.assertTrue(robot.data.root_quat_w.shape == (1, 4))
-        self.assertTrue(robot.data.joint_pos.shape == (1, 21))
-
-        # Check some internal physx data for debugging
-        # -- joint related
-        self.assertEqual(robot.root_physx_view.max_dofs, robot.root_physx_view.shared_metatype.dof_count)
-        # -- link related
-        self.assertEqual(robot.root_physx_view.max_links, robot.root_physx_view.shared_metatype.link_count)
-        # -- link names (check within articulation ordering is correct)
-        prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
-        self.assertListEqual(prim_path_body_names, robot.body_names)
-
-        # Simulate physics
-        for _ in range(10):
-            # perform rendering
-            self.sim.step()
-            # update robot
-            robot.update(self.dt)
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(
+                            articulation_type="humanoid", stiffness=0.0, damping=0.0
+                        )
+                        articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
+
+                        # Check that boundedness of articulation is correct
+                        self.assertEqual(ctypes.c_long.from_address(id(articulation)).value, 1)
+
+                        # Play sim
+                        sim.reset()
+
+                        # # Check if articulation is initialized
+                        self.assertTrue(articulation.is_initialized)
+                        # Check that is fixed base
+                        self.assertFalse(articulation.is_fixed_base)
+                        # Check buffers that exists and have correct shapes
+                        self.assertEqual(articulation.data.root_pos_w.shape, (num_articulations, 3))
+                        self.assertEqual(articulation.data.root_quat_w.shape, (num_articulations, 4))
+                        self.assertEqual(articulation.data.joint_pos.shape, (num_articulations, 21))
+
+                        # Check some internal physx data for debugging
+                        # -- joint related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_dofs,
+                            articulation.root_physx_view.shared_metatype.dof_count,
+                        )
+                        # -- link related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_links,
+                            articulation.root_physx_view.shared_metatype.link_count,
+                        )
+                        # -- link names (check within articulation ordering is correct)
+                        prim_path_body_names = [
+                            path.split("/")[-1] for path in articulation.root_physx_view.link_paths[0]
+                        ]
+                        self.assertListEqual(prim_path_body_names, articulation.body_names)
+
+                        # Simulate physics
+                        for _ in range(10):
+                            # perform rendering
+                            sim.step()
+                            # update articulation
+                            articulation.update(sim.cfg.dt)
 
     def test_initialization_floating_base(self):
         """Test initialization for a floating-base with articulation root on provided prim path."""
-        # Create articulation
-        robot = Articulation(cfg=ANYMAL_C_CFG.replace(prim_path="/World/Robot"))
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Play sim
-        self.sim.reset()
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Check if robot is initialized
-        self.assertTrue(robot.is_initialized)
-        # Check that floating base
-        self.assertFalse(robot.is_fixed_base)
-        # Check buffers that exists and have correct shapes
-        self.assertTrue(robot.data.root_pos_w.shape == (1, 3))
-        self.assertTrue(robot.data.root_quat_w.shape == (1, 4))
-        self.assertTrue(robot.data.joint_pos.shape == (1, 12))
-
-        # Check some internal physx data for debugging
-        # -- joint related
-        self.assertEqual(robot.root_physx_view.max_dofs, robot.root_physx_view.shared_metatype.dof_count)
-        # -- link related
-        self.assertEqual(robot.root_physx_view.max_links, robot.root_physx_view.shared_metatype.link_count)
-        # -- link names (check within articulation ordering is correct)
-        prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
-        self.assertListEqual(prim_path_body_names, robot.body_names)
-
-        # Simulate physics
-        for _ in range(10):
-            # perform rendering
-            self.sim.step()
-            # update robot
-            robot.update(self.dt)
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(
+                            articulation_type="anymal", stiffness=0.0, damping=0.0
+                        )
+                        articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
+
+                        # Check that boundedness of articulation is correct
+                        self.assertEqual(ctypes.c_long.from_address(id(articulation)).value, 1)
+
+                        # Play sim
+                        sim.reset()
+                        # Check if articulation is initialized
+                        self.assertTrue(articulation.is_initialized)
+                        # Check that floating base
+                        self.assertFalse(articulation.is_fixed_base)
+                        # Check buffers that exists and have correct shapes
+                        self.assertEqual(articulation.data.root_pos_w.shape, (num_articulations, 3))
+                        self.assertEqual(articulation.data.root_quat_w.shape, (num_articulations, 4))
+                        self.assertEqual(articulation.data.joint_pos.shape, (num_articulations, 12))
+
+                        # Check some internal physx data for debugging
+                        # -- joint related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_dofs,
+                            articulation.root_physx_view.shared_metatype.dof_count,
+                        )
+                        # -- link related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_links,
+                            articulation.root_physx_view.shared_metatype.link_count,
+                        )
+                        # -- link names (check within articulation ordering is correct)
+                        prim_path_body_names = [
+                            path.split("/")[-1] for path in articulation.root_physx_view.link_paths[0]
+                        ]
+                        self.assertListEqual(prim_path_body_names, articulation.body_names)
+
+                        # Simulate physics
+                        for _ in range(10):
+                            # perform rendering
+                            sim.step()
+                            # update articulation
+                            articulation.update(sim.cfg.dt)
 
     def test_initialization_fixed_base(self):
         """Test initialization for fixed base."""
-        # Create articulation
-        robot = Articulation(cfg=FRANKA_PANDA_CFG.replace(prim_path="/World/Robot"))
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Play sim
-        self.sim.reset()
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Check if robot is initialized
-        self.assertTrue(robot.is_initialized)
-        # Check that fixed base
-        self.assertTrue(robot.is_fixed_base)
-        # Check buffers that exists and have correct shapes
-        self.assertTrue(robot.data.root_pos_w.shape == (1, 3))
-        self.assertTrue(robot.data.root_quat_w.shape == (1, 4))
-        self.assertTrue(robot.data.joint_pos.shape == (1, 9))
-
-        # Check some internal physx data for debugging
-        # -- joint related
-        self.assertEqual(robot.root_physx_view.max_dofs, robot.root_physx_view.shared_metatype.dof_count)
-        # -- link related
-        self.assertEqual(robot.root_physx_view.max_links, robot.root_physx_view.shared_metatype.link_count)
-        # -- link names (check within articulation ordering is correct)
-        prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
-        self.assertListEqual(prim_path_body_names, robot.body_names)
-
-        # Simulate physics
-        for _ in range(10):
-            # perform rendering
-            self.sim.step()
-            # update robot
-            robot.update(self.dt)
-            # check that the root is at the correct state
-            default_root_state = robot.data.default_root_state.clone()
-            torch.testing.assert_close(robot.data.root_state_w, default_root_state)
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(articulation_type="panda")
+                        articulation, translations = generate_articulation(articulation_cfg, num_articulations, device)
+
+                        # Check that boundedness of articulation is correct
+                        self.assertEqual(ctypes.c_long.from_address(id(articulation)).value, 1)
+
+                        # Play sim
+                        sim.reset()
+                        # Check if articulation is initialized
+                        self.assertTrue(articulation.is_initialized)
+                        # Check that fixed base
+                        self.assertTrue(articulation.is_fixed_base)
+                        # Check buffers that exists and have correct shapes
+                        self.assertEqual(articulation.data.root_pos_w.shape, (num_articulations, 3))
+                        self.assertEqual(articulation.data.root_quat_w.shape, (num_articulations, 4))
+                        self.assertEqual(articulation.data.joint_pos.shape, (num_articulations, 9))
+
+                        # Check some internal physx data for debugging
+                        # -- joint related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_dofs,
+                            articulation.root_physx_view.shared_metatype.dof_count,
+                        )
+                        # -- link related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_links,
+                            articulation.root_physx_view.shared_metatype.link_count,
+                        )
+                        # -- link names (check within articulation ordering is correct)
+                        prim_path_body_names = [
+                            path.split("/")[-1] for path in articulation.root_physx_view.link_paths[0]
+                        ]
+                        self.assertListEqual(prim_path_body_names, articulation.body_names)
+
+                        # Simulate physics
+                        for _ in range(10):
+                            # perform rendering
+                            sim.step()
+                            # update articulation
+                            articulation.update(sim.cfg.dt)
+
+                            # check that the root is at the correct state - its default state as it is fixed base
+                            default_root_state = articulation.data.default_root_state.clone()
+                            default_root_state[:, :3] = default_root_state[:, :3] + translations
+
+                            torch.testing.assert_close(articulation.data.root_state_w, default_root_state)
 
     def test_initialization_fixed_base_single_joint(self):
         """Test initialization for fixed base articulation with a single joint."""
-        # Create articulation
-        robot_cfg = ArticulationCfg(
-            spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Simple/revolute_articulation.usd"),
-            actuators={
-                "joint": ImplicitActuatorCfg(
-                    joint_names_expr=[".*"],
-                    effort_limit=400.0,
-                    velocity_limit=100.0,
-                    stiffness=0.0,
-                    damping=10.0,
-                ),
-            },
-        )
-        robot = Articulation(cfg=robot_cfg.replace(prim_path="/World/Robot"))
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Play sim
-        self.sim.reset()
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Check if robot is initialized
-        self.assertTrue(robot.is_initialized)
-        # Check that fixed base
-        self.assertTrue(robot.is_fixed_base)
-        # Check buffers that exists and have correct shapes
-        self.assertTrue(robot.data.root_pos_w.shape == (1, 3))
-        self.assertTrue(robot.data.root_quat_w.shape == (1, 4))
-        self.assertTrue(robot.data.joint_pos.shape == (1, 1))
-
-        # Check some internal physx data for debugging
-        # -- joint related
-        self.assertEqual(robot.root_physx_view.max_dofs, robot.root_physx_view.shared_metatype.dof_count)
-        # -- link related
-        self.assertEqual(robot.root_physx_view.max_links, robot.root_physx_view.shared_metatype.link_count)
-        # -- link names (check within articulation ordering is correct)
-        prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
-        self.assertListEqual(prim_path_body_names, robot.body_names)
-
-        # Simulate physics
-        for _ in range(10):
-            # perform rendering
-            self.sim.step()
-            # update robot
-            robot.update(self.dt)
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(articulation_type="single_joint")
+                        articulation, translations = generate_articulation(articulation_cfg, num_articulations, device)
+
+                        # Check that boundedness of articulation is correct
+                        self.assertEqual(ctypes.c_long.from_address(id(articulation)).value, 1)
+
+                        # Play sim
+                        sim.reset()
+                        # Check if articulation is initialized
+                        self.assertTrue(articulation.is_initialized)
+                        # Check that fixed base
+                        self.assertTrue(articulation.is_fixed_base)
+                        # Check buffers that exists and have correct shapes
+                        self.assertEqual(articulation.data.root_pos_w.shape, (num_articulations, 3))
+                        self.assertEqual(articulation.data.root_quat_w.shape, (num_articulations, 4))
+                        self.assertEqual(articulation.data.joint_pos.shape, (num_articulations, 1))
+
+                        # Check some internal physx data for debugging
+                        # -- joint related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_dofs,
+                            articulation.root_physx_view.shared_metatype.dof_count,
+                        )
+                        # -- link related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_links,
+                            articulation.root_physx_view.shared_metatype.link_count,
+                        )
+                        # -- link names (check within articulation ordering is correct)
+                        prim_path_body_names = [
+                            path.split("/")[-1] for path in articulation.root_physx_view.link_paths[0]
+                        ]
+                        self.assertListEqual(prim_path_body_names, articulation.body_names)
+
+                        # Simulate physics
+                        for _ in range(10):
+                            # perform rendering
+                            sim.step()
+                            # update articulation
+                            articulation.update(sim.cfg.dt)
+
+                            # check that the root is at the correct state - its default state as it is fixed base
+                            default_root_state = articulation.data.default_root_state.clone()
+                            default_root_state[:, :3] = default_root_state[:, :3] + translations
+
+                            torch.testing.assert_close(articulation.data.root_state_w, default_root_state)
 
     def test_initialization_hand_with_tendons(self):
         """Test initialization for fixed base articulated hand with tendons."""
-        # Create articulation
-        robot_cfg = SHADOW_HAND_CFG
-        robot = Articulation(cfg=robot_cfg.replace(prim_path="/World/Robot"))
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Play sim
-        self.sim.reset()
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Check if robot is initialized
-        self.assertTrue(robot.is_initialized)
-        # Check that fixed base
-        self.assertTrue(robot.is_fixed_base)
-        # Check buffers that exists and have correct shapes
-        self.assertTrue(robot.data.root_pos_w.shape == (1, 3))
-        self.assertTrue(robot.data.root_quat_w.shape == (1, 4))
-        self.assertTrue(robot.data.joint_pos.shape == (1, 24))
-
-        # Check some internal physx data for debugging
-        # -- joint related
-        self.assertEqual(robot.root_physx_view.max_dofs, robot.root_physx_view.shared_metatype.dof_count)
-        # -- link related
-        self.assertEqual(robot.root_physx_view.max_links, robot.root_physx_view.shared_metatype.link_count)
-
-        # Simulate physics
-        for _ in range(10):
-            # perform rendering
-            self.sim.step()
-            # update robot
-            robot.update(self.dt)
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(articulation_type="shadow_hand")
+                        articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
+
+                        # Check that boundedness of articulation is correct
+                        self.assertEqual(ctypes.c_long.from_address(id(articulation)).value, 1)
+
+                        # Play sim
+                        sim.reset()
+                        # Check if articulation is initialized
+                        self.assertTrue(articulation.is_initialized)
+                        # Check that fixed base
+                        self.assertTrue(articulation.is_fixed_base)
+                        # Check buffers that exists and have correct shapes
+                        self.assertTrue(articulation.data.root_pos_w.shape == (num_articulations, 3))
+                        self.assertTrue(articulation.data.root_quat_w.shape == (num_articulations, 4))
+                        self.assertTrue(articulation.data.joint_pos.shape == (num_articulations, 24))
+
+                        # Check some internal physx data for debugging
+                        # -- joint related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_dofs,
+                            articulation.root_physx_view.shared_metatype.dof_count,
+                        )
+                        # -- link related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_links,
+                            articulation.root_physx_view.shared_metatype.link_count,
+                        )
+
+                        # Simulate physics
+                        for _ in range(10):
+                            # perform rendering
+                            sim.step()
+                            # update articulation
+                            articulation.update(sim.cfg.dt)
 
     def test_initialization_floating_base_made_fixed_base(self):
         """Test initialization for a floating-base articulation made fixed-base using schema properties."""
-        # Create articulation
-        robot_cfg: ArticulationCfg = ANYMAL_C_CFG.replace(prim_path="/World/Robot")
-        robot_cfg.spawn.articulation_props.fix_root_link = True
-        robot = Articulation(cfg=robot_cfg)
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Play sim
-        self.sim.reset()
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Check if robot is initialized
-        self.assertTrue(robot.is_initialized)
-        # Check that floating base
-        self.assertTrue(robot.is_fixed_base)
-        # Check buffers that exists and have correct shapes
-        self.assertTrue(robot.data.root_pos_w.shape == (1, 3))
-        self.assertTrue(robot.data.root_quat_w.shape == (1, 4))
-        self.assertTrue(robot.data.joint_pos.shape == (1, 12))
-
-        # Check some internal physx data for debugging
-        # -- joint related
-        self.assertEqual(robot.root_physx_view.max_dofs, robot.root_physx_view.shared_metatype.dof_count)
-        # -- link related
-        self.assertEqual(robot.root_physx_view.max_links, robot.root_physx_view.shared_metatype.link_count)
-        # -- link names (check within articulation ordering is correct)
-        prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
-        self.assertListEqual(prim_path_body_names, robot.body_names)
-
-        # Root state should be at the default state
-        robot.write_root_state_to_sim(robot.data.default_root_state.clone())
-        # Simulate physics
-        for _ in range(10):
-            # perform rendering
-            self.sim.step()
-            # update robot
-            robot.update(self.dt)
-            # check that the root is at the correct state
-            default_root_state = robot.data.default_root_state.clone()
-            torch.testing.assert_close(robot.data.root_state_w, default_root_state)
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(articulation_type="anymal")
+                        # Fix root link
+                        articulation_cfg.spawn.articulation_props.fix_root_link = True
+                        articulation, translations = generate_articulation(articulation_cfg, num_articulations, device)
+
+                        # Check that boundedness of articulation is correct
+                        self.assertEqual(ctypes.c_long.from_address(id(articulation)).value, 1)
+
+                        # Play sim
+                        sim.reset()
+                        # Check if articulation is initialized
+                        self.assertTrue(articulation.is_initialized)
+                        # Check that is fixed base
+                        self.assertTrue(articulation.is_fixed_base)
+                        # Check buffers that exists and have correct shapes
+                        self.assertEqual(articulation.data.root_pos_w.shape, (num_articulations, 3))
+                        self.assertEqual(articulation.data.root_quat_w.shape, (num_articulations, 4))
+                        self.assertEqual(articulation.data.joint_pos.shape, (num_articulations, 12))
+
+                        # Check some internal physx data for debugging
+                        # -- joint related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_dofs,
+                            articulation.root_physx_view.shared_metatype.dof_count,
+                        )
+                        # -- link related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_links,
+                            articulation.root_physx_view.shared_metatype.link_count,
+                        )
+                        # -- link names (check within articulation ordering is correct)
+                        prim_path_body_names = [
+                            path.split("/")[-1] for path in articulation.root_physx_view.link_paths[0]
+                        ]
+                        self.assertListEqual(prim_path_body_names, articulation.body_names)
+
+                        # Simulate physics
+                        for _ in range(10):
+                            # perform rendering
+                            sim.step()
+                            # update articulation
+                            articulation.update(sim.cfg.dt)
+
+                            # check that the root is at the correct state - its default state as it is fixed base
+                            default_root_state = articulation.data.default_root_state.clone()
+                            default_root_state[:, :3] = default_root_state[:, :3] + translations
+
+                            torch.testing.assert_close(articulation.data.root_state_w, default_root_state)
 
     def test_initialization_fixed_base_made_floating_base(self):
         """Test initialization for fixed base made floating-base using schema properties."""
-        # Create articulation
-        robot_cfg = FRANKA_PANDA_CFG.replace(prim_path="/World/Robot")
-        robot_cfg.spawn.articulation_props.fix_root_link = False
-        robot = Articulation(cfg=robot_cfg)
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Play sim
-        self.sim.reset()
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Check if robot is initialized
-        self.assertTrue(robot.is_initialized)
-        # Check that fixed base
-        self.assertFalse(robot.is_fixed_base)
-        # Check buffers that exists and have correct shapes
-        self.assertTrue(robot.data.root_pos_w.shape == (1, 3))
-        self.assertTrue(robot.data.root_quat_w.shape == (1, 4))
-        self.assertTrue(robot.data.joint_pos.shape == (1, 9))
-
-        # Check some internal physx data for debugging
-        # -- joint related
-        self.assertEqual(robot.root_physx_view.max_dofs, robot.root_physx_view.shared_metatype.dof_count)
-        # -- link related
-        self.assertEqual(robot.root_physx_view.max_links, robot.root_physx_view.shared_metatype.link_count)
-        # -- link names (check within articulation ordering is correct)
-        prim_path_body_names = [path.split("/")[-1] for path in robot.root_physx_view.link_paths[0]]
-        self.assertListEqual(prim_path_body_names, robot.body_names)
-
-        # Simulate physics
-        for _ in range(10):
-            # perform rendering
-            self.sim.step()
-            # update robot
-            robot.update(self.dt)
-            # check that the root is at the correct state
-            default_root_state = robot.data.default_root_state.clone()
-            is_close = torch.any(torch.isclose(robot.data.root_state_w, default_root_state))
-            self.assertFalse(is_close)
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(articulation_type="panda")
+                        # Unfix root link
+                        articulation_cfg.spawn.articulation_props.fix_root_link = False
+                        articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
+
+                        # Check that boundedness of articulation is correct
+                        self.assertEqual(ctypes.c_long.from_address(id(articulation)).value, 1)
+
+                        # Play sim
+                        sim.reset()
+                        # Check if articulation is initialized
+                        self.assertTrue(articulation.is_initialized)
+                        # Check that is floating base
+                        self.assertFalse(articulation.is_fixed_base)
+                        # Check buffers that exists and have correct shapes
+                        self.assertEqual(articulation.data.root_pos_w.shape, (num_articulations, 3))
+                        self.assertEqual(articulation.data.root_quat_w.shape, (num_articulations, 4))
+                        self.assertEqual(articulation.data.joint_pos.shape, (num_articulations, 9))
+
+                        # Check some internal physx data for debugging
+                        # -- joint related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_dofs,
+                            articulation.root_physx_view.shared_metatype.dof_count,
+                        )
+                        # -- link related
+                        self.assertEqual(
+                            articulation.root_physx_view.max_links,
+                            articulation.root_physx_view.shared_metatype.link_count,
+                        )
+                        # -- link names (check within articulation ordering is correct)
+                        prim_path_body_names = [
+                            path.split("/")[-1] for path in articulation.root_physx_view.link_paths[0]
+                        ]
+                        self.assertListEqual(prim_path_body_names, articulation.body_names)
+
+                        # Simulate physics
+                        for _ in range(10):
+                            # perform rendering
+                            sim.step()
+                            # update articulation
+                            articulation.update(sim.cfg.dt)
 
     def test_out_of_range_default_joint_pos(self):
         """Test that the default joint position from configuration is out of range."""
-        # Create articulation
-        robot_cfg = FRANKA_PANDA_CFG.replace(prim_path="/World/Robot")
-        robot_cfg.init_state.joint_pos = {
-            "panda_joint1": 10.0,
-            "panda_joint[2, 4]": -20.0,
-        }
-        robot = Articulation(robot_cfg)
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Play sim
-        self.sim.reset()
-        # Check if robot is initialized
-        self.assertFalse(robot.is_initialized)
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        # Create articulation
+                        articulation_cfg = generate_articulation_cfg(articulation_type="panda")
+                        articulation_cfg.init_state.joint_pos = {
+                            "panda_joint1": 10.0,
+                            "panda_joint[2, 4]": -20.0,
+                        }
+
+                        articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
+
+                        # Check that boundedness of articulation is correct
+                        self.assertEqual(ctypes.c_long.from_address(id(articulation)).value, 1)
+
+                        # Play sim
+                        sim.reset()
+                        # Check if articulation is initialized
+                        self.assertFalse(articulation._is_initialized)
 
     def test_out_of_range_default_joint_vel(self):
         """Test that the default joint velocity from configuration is out of range."""
-        # Create articulation
-        robot_cfg = FRANKA_PANDA_CFG.replace(prim_path="/World/Robot")
-        robot_cfg.init_state.joint_vel = {
-            "panda_joint1": 100.0,
-            "panda_joint[2, 4]": -60.0,
-        }
-        robot = Articulation(robot_cfg)
-
-        # Check that boundedness of articulation is correct
-        self.assertEqual(ctypes.c_long.from_address(id(robot)).value, 1)
-
-        # Play sim
-        self.sim.reset()
-        # Check if robot is initialized
-        self.assertFalse(robot.is_initialized)
+        with build_simulation_context(device="cuda:0", add_ground_plane=False, auto_add_lighting=True) as sim:
+            # Create articulation
+            articulation_cfg = FRANKA_PANDA_CFG.replace(prim_path="/World/Robot")
+            articulation_cfg.init_state.joint_vel = {
+                "panda_joint1": 100.0,
+                "panda_joint[2, 4]": -60.0,
+            }
+            articulation = Articulation(articulation_cfg)
+
+            # Check that boundedness of articulation is correct
+            self.assertEqual(ctypes.c_long.from_address(id(articulation)).value, 1)
+
+            # Play sim
+            sim.reset()
+            # Check if articulation is initialized
+            self.assertFalse(articulation._is_initialized)
 
     def test_external_force_on_single_body(self):
-        """Test application of external force on the base of the robot."""
-
-        # Robots
-        robot_cfg = ANYMAL_C_CFG
-        robot_cfg.spawn.func("/World/Anymal_c/Robot_1", robot_cfg.spawn, translation=(0.0, -0.5, 0.65))
-        robot_cfg.spawn.func("/World/Anymal_c/Robot_2", robot_cfg.spawn, translation=(0.0, 0.5, 0.65))
-        # create handles for the robots
-        robot = Articulation(robot_cfg.replace(prim_path="/World/Anymal_c/Robot.*"))
-
-        # Play the simulator
-        self.sim.reset()
-
-        # Find bodies to apply the force
-        body_ids, _ = robot.find_bodies("base")
-        # Sample a large force
-        external_wrench_b = torch.zeros(robot.num_instances, len(body_ids), 6, device=self.sim.device)
-        external_wrench_b[..., 1] = 1000.0
-
-        # Now we are ready!
-        for _ in range(5):
-            # reset root state
-            root_state = robot.data.default_root_state.clone()
-            root_state[0, :2] = torch.tensor([0.0, -0.5], device=self.sim.device)
-            root_state[1, :2] = torch.tensor([0.0, 0.5], device=self.sim.device)
-            robot.write_root_state_to_sim(root_state)
-            # reset dof state
-            joint_pos, joint_vel = robot.data.default_joint_pos, robot.data.default_joint_vel
-            robot.write_joint_state_to_sim(joint_pos, joint_vel)
-            # reset robot
-            robot.reset()
-            # apply force
-            robot.set_external_force_and_torque(
-                external_wrench_b[..., :3], external_wrench_b[..., 3:], body_ids=body_ids
-            )
-            # perform simulation
-            for _ in range(100):
-                # apply action to the robot
-                robot.set_joint_position_target(robot.data.default_joint_pos.clone())
-                robot.write_data_to_sim()
-                # perform step
-                self.sim.step()
-                # update buffers
-                robot.update(self.dt)
-            # check condition that the robots have fallen down
-            self.assertTrue(robot.data.root_pos_w[0, 2].item() < 0.2)
-            self.assertTrue(robot.data.root_pos_w[1, 2].item() < 0.2)
+        """Test application of external force on the base of the articulation."""
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(articulation_type="anymal")
+                        articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
+                        # Play the simulator
+                        sim.reset()
+
+                        # Find bodies to apply the force
+                        body_ids, _ = articulation.find_bodies("base")
+                        # Sample a large force
+                        external_wrench_b = torch.zeros(articulation.num_instances, len(body_ids), 6, device=sim.device)
+                        external_wrench_b[..., 1] = 1000.0
+
+                        # Now we are ready!
+                        for _ in range(5):
+                            # reset root state
+                            root_state = articulation.data.default_root_state.clone()
+
+                            articulation.write_root_state_to_sim(root_state)
+                            # reset dof state
+                            joint_pos, joint_vel = (
+                                articulation.data.default_joint_pos,
+                                articulation.data.default_joint_vel,
+                            )
+                            articulation.write_joint_state_to_sim(joint_pos, joint_vel)
+                            # reset articulation
+                            articulation.reset()
+                            # apply force
+                            articulation.set_external_force_and_torque(
+                                external_wrench_b[..., :3], external_wrench_b[..., 3:], body_ids=body_ids
+                            )
+                            # perform simulation
+                            for _ in range(100):
+                                # apply action to the articulation
+                                articulation.set_joint_position_target(articulation.data.default_joint_pos.clone())
+                                articulation.write_data_to_sim()
+                                # perform step
+                                sim.step()
+                                # update buffers
+                                articulation.update(sim.cfg.dt)
+                            # check condition that the articulations have fallen down
+                            for i in range(num_articulations):
+                                self.assertLess(articulation.data.root_pos_w[i, 2].item(), 0.2)
 
     def test_external_force_on_multiple_bodies(self):
-        """Test application of external force on the legs of the robot."""
-
-        # Robots
-        robot_cfg = ANYMAL_C_CFG
-        robot_cfg.spawn.func("/World/Anymal_c/Robot_1", robot_cfg.spawn, translation=(0.0, -0.5, 0.65))
-        robot_cfg.spawn.func("/World/Anymal_c/Robot_2", robot_cfg.spawn, translation=(0.0, 0.5, 0.65))
-        # create handles for the robots
-        robot = Articulation(robot_cfg.replace(prim_path="/World/Anymal_c/Robot.*"))
-
-        # Play the simulator
-        self.sim.reset()
-
-        # Find bodies to apply the force
-        body_ids, _ = robot.find_bodies(".*_SHANK")
-        # Sample a large force
-        external_wrench_b = torch.zeros(robot.num_instances, len(body_ids), 6, device=self.sim.device)
-        external_wrench_b[..., 1] = 100.0
-
-        # Now we are ready!
-        for _ in range(5):
-            # reset root state
-            root_state = robot.data.default_root_state.clone()
-            root_state[0, :2] = torch.tensor([0.0, -0.5], device=self.sim.device)
-            root_state[1, :2] = torch.tensor([0.0, 0.5], device=self.sim.device)
-            robot.write_root_state_to_sim(root_state)
-            # reset dof state
-            joint_pos, joint_vel = robot.data.default_joint_pos, robot.data.default_joint_vel
-            robot.write_joint_state_to_sim(joint_pos, joint_vel)
-            # reset robot
-            robot.reset()
-            # apply force
-            robot.set_external_force_and_torque(
-                external_wrench_b[..., :3], external_wrench_b[..., 3:], body_ids=body_ids
-            )
-            # perform simulation
-            for _ in range(100):
-                # apply action to the robot
-                robot.set_joint_position_target(robot.data.default_joint_pos.clone())
-                robot.write_data_to_sim()
-                # perform step
-                self.sim.step()
-                # update buffers
-                robot.update(self.dt)
-            # check condition
-            # since there is a moment applied on the robot, the robot should rotate
-            self.assertTrue(robot.data.root_ang_vel_w[0, 2].item() > 0.1)
-            self.assertTrue(robot.data.root_ang_vel_w[1, 2].item() > 0.1)
+        """Test application of external force on the legs of the articulation."""
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(articulation_type="anymal")
+                        articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
+
+                        # Play the simulator
+                        sim.reset()
+
+                        # Find bodies to apply the force
+                        body_ids, _ = articulation.find_bodies(".*_SHANK")
+                        # Sample a large force
+                        external_wrench_b = torch.zeros(articulation.num_instances, len(body_ids), 6, device=sim.device)
+                        external_wrench_b[..., 1] = 100.0
+
+                        # Now we are ready!
+                        for _ in range(5):
+                            # reset root state
+                            articulation.write_root_state_to_sim(articulation.data.default_root_state.clone())
+                            # reset dof state
+                            joint_pos, joint_vel = (
+                                articulation.data.default_joint_pos,
+                                articulation.data.default_joint_vel,
+                            )
+                            articulation.write_joint_state_to_sim(joint_pos, joint_vel)
+                            # reset articulation
+                            articulation.reset()
+                            # apply force
+                            articulation.set_external_force_and_torque(
+                                external_wrench_b[..., :3], external_wrench_b[..., 3:], body_ids=body_ids
+                            )
+                            # perform simulation
+                            for _ in range(100):
+                                # apply action to the articulation
+                                articulation.set_joint_position_target(articulation.data.default_joint_pos.clone())
+                                articulation.write_data_to_sim()
+                                # perform step
+                                sim.step()
+                                # update buffers
+                                articulation.update(sim.cfg.dt)
+                            # check condition
+                            for i in range(num_articulations):
+                                # since there is a moment applied on the articulation, the articulation should rotate
+                                self.assertTrue(articulation.data.root_ang_vel_w[i, 2].item() > 0.1)
 
     def test_loading_gains_from_usd(self):
         """Test that gains are loaded from USD file if actuator model has them as None."""
-        # Create articulation
-        robot_cfg = ArticulationCfg(
-            prim_path="/World/Robot",
-            spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Humanoid/humanoid_instanceable.usd"),
-            init_state=ArticulationCfg.InitialStateCfg(pos=(0.0, 0.0, 1.34)),
-            actuators={"body": ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness=None, damping=None)},
-        )
-        robot = Articulation(cfg=robot_cfg)
-
-        # Play sim
-        self.sim.reset()
-
-        # Expected gains
-        # -- Stiffness values
-        expected_stiffness = {
-            ".*_waist.*": 20.0,
-            ".*_upper_arm.*": 10.0,
-            "pelvis": 10.0,
-            ".*_lower_arm": 2.0,
-            ".*_thigh:0": 10.0,
-            ".*_thigh:1": 20.0,
-            ".*_thigh:2": 10.0,
-            ".*_shin": 5.0,
-            ".*_foot.*": 2.0,
-        }
-        indices_list, _, values_list = string_utils.resolve_matching_names_values(expected_stiffness, robot.joint_names)
-        expected_stiffness = torch.zeros(robot.num_instances, robot.num_joints, device=robot.device)
-        expected_stiffness[:, indices_list] = torch.tensor(values_list, device=robot.device)
-        # -- Damping values
-        expected_damping = {
-            ".*_waist.*": 5.0,
-            ".*_upper_arm.*": 5.0,
-            "pelvis": 5.0,
-            ".*_lower_arm": 1.0,
-            ".*_thigh:0": 5.0,
-            ".*_thigh:1": 5.0,
-            ".*_thigh:2": 5.0,
-            ".*_shin": 0.1,
-            ".*_foot.*": 1.0,
-        }
-        indices_list, _, values_list = string_utils.resolve_matching_names_values(expected_damping, robot.joint_names)
-        expected_damping = torch.zeros_like(expected_stiffness)
-        expected_damping[:, indices_list] = torch.tensor(values_list, device=robot.device)
-
-        # Check that gains are loaded from USD file
-        torch.testing.assert_close(robot.actuators["body"].stiffness, expected_stiffness)
-        torch.testing.assert_close(robot.actuators["body"].damping, expected_damping)
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(
+                            articulation_type="humanoid", stiffness=None, damping=None
+                        )
+                        articulation, _ = generate_articulation(articulation_cfg, num_articulations, device)
+
+                        # Play sim
+                        sim.reset()
+
+                        # Expected gains
+                        # -- Stiffness values
+                        expected_stiffness = {
+                            ".*_waist.*": 20.0,
+                            ".*_upper_arm.*": 10.0,
+                            "pelvis": 10.0,
+                            ".*_lower_arm": 2.0,
+                            ".*_thigh:0": 10.0,
+                            ".*_thigh:1": 20.0,
+                            ".*_thigh:2": 10.0,
+                            ".*_shin": 5.0,
+                            ".*_foot.*": 2.0,
+                        }
+                        indices_list, _, values_list = string_utils.resolve_matching_names_values(
+                            expected_stiffness, articulation.joint_names
+                        )
+                        expected_stiffness = torch.zeros(
+                            articulation.num_instances, articulation.num_joints, device=articulation.device
+                        )
+                        expected_stiffness[:, indices_list] = torch.tensor(values_list, device=articulation.device)
+                        # -- Damping values
+                        expected_damping = {
+                            ".*_waist.*": 5.0,
+                            ".*_upper_arm.*": 5.0,
+                            "pelvis": 5.0,
+                            ".*_lower_arm": 1.0,
+                            ".*_thigh:0": 5.0,
+                            ".*_thigh:1": 5.0,
+                            ".*_thigh:2": 5.0,
+                            ".*_shin": 0.1,
+                            ".*_foot.*": 1.0,
+                        }
+                        indices_list, _, values_list = string_utils.resolve_matching_names_values(
+                            expected_damping, articulation.joint_names
+                        )
+                        expected_damping = torch.zeros_like(expected_stiffness)
+                        expected_damping[:, indices_list] = torch.tensor(values_list, device=articulation.device)
+
+                        # Check that gains are loaded from USD file
+                        torch.testing.assert_close(articulation.actuators["body"].stiffness, expected_stiffness)
+                        torch.testing.assert_close(articulation.actuators["body"].damping, expected_damping)
 
     def test_setting_gains_from_cfg(self):
         """Test that gains are loaded from the configuration correctly.
 
         Note: We purposefully give one argument as int and other as float to check that it is handled correctly.
         """
-        # Create articulation
-        robot_cfg = ArticulationCfg(
-            prim_path="/World/Robot",
-            spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Humanoid/humanoid_instanceable.usd"),
-            init_state=ArticulationCfg.InitialStateCfg(pos=(0.0, 0.0, 1.34)),
-            actuators={"body": ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness=10, damping=2.0)},
-        )
-        robot = Articulation(cfg=robot_cfg)
-
-        # Play sim
-        self.sim.reset()
-
-        # Expected gains
-        expected_stiffness = torch.full((robot.num_instances, robot.num_joints), 10.0, device=robot.device)
-        expected_damping = torch.full_like(expected_stiffness, 2.0)
-
-        # Check that gains are loaded from USD file
-        torch.testing.assert_close(robot.actuators["body"].stiffness, expected_stiffness)
-        torch.testing.assert_close(robot.actuators["body"].damping, expected_damping)
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=True, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(articulation_type="humanoid")
+                        articulation, _ = generate_articulation(
+                            articulation_cfg=articulation_cfg, num_articulations=num_articulations, device=device
+                        )
+
+                        # Play sim
+                        sim.reset()
+
+                        # Expected gains
+                        expected_stiffness = torch.full(
+                            (articulation.num_instances, articulation.num_joints), 10.0, device=articulation.device
+                        )
+                        expected_damping = torch.full_like(expected_stiffness, 2.0)
+
+                        # Check that gains are loaded from USD file
+                        torch.testing.assert_close(articulation.actuators["body"].stiffness, expected_stiffness)
+                        torch.testing.assert_close(articulation.actuators["body"].damping, expected_damping)
 
     def test_setting_gains_from_cfg_dict(self):
         """Test that gains are loaded from the configuration dictionary correctly.
 
         Note: We purposefully give one argument as int and other as float to check that it is handled correctly.
         """
-        # Create articulation
-        robot_cfg = ArticulationCfg(
-            prim_path="/World/Robot",
-            spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Robots/Humanoid/humanoid_instanceable.usd"),
-            init_state=ArticulationCfg.InitialStateCfg(pos=(0.0, 0.0, 1.34)),
-            actuators={"body": ImplicitActuatorCfg(joint_names_expr=[".*"], stiffness={".*": 10}, damping={".*": 2.0})},
-        )
-        robot = Articulation(cfg=robot_cfg)
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(articulation_type="humanoid")
+                        articulation, _ = generate_articulation(
+                            articulation_cfg=articulation_cfg, num_articulations=num_articulations, device=device
+                        )
+                        # Play sim
+                        sim.reset()
+
+                        # Expected gains
+                        expected_stiffness = torch.full(
+                            (articulation.num_instances, articulation.num_joints), 10.0, device=articulation.device
+                        )
+                        expected_damping = torch.full_like(expected_stiffness, 2.0)
+
+                        # Check that gains are loaded from USD file
+                        torch.testing.assert_close(articulation.actuators["body"].stiffness, expected_stiffness)
+                        torch.testing.assert_close(articulation.actuators["body"].damping, expected_damping)
+
+    def test_reset(self):
+        """Test that reset method works properly.
+
+        Need to check that all actuators are reset and that forces, torques and last body velocities are reset to 0.0.
+
+        NOTE: Currently no way to determine actuators have been reset, can leave this to actuator tests that
+        implement reset method.
 
-        # Play sim
-        self.sim.reset()
-
-        # Expected gains
-        expected_stiffness = torch.full((robot.num_instances, robot.num_joints), 10.0, device=robot.device)
-        expected_damping = torch.full_like(expected_stiffness, 2.0)
-
-        # Check that gains are loaded from USD file
-        torch.testing.assert_close(robot.actuators["body"].stiffness, expected_stiffness)
-        torch.testing.assert_close(robot.actuators["body"].damping, expected_damping)
+        """
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(device=device, add_ground_plane=False, auto_add_lighting=True) as sim:
+                        articulation_cfg = generate_articulation_cfg(articulation_type="humanoid")
+                        articulation, _ = generate_articulation(
+                            articulation_cfg=articulation_cfg, num_articulations=num_articulations, device=device
+                        )
+
+                        # Play the simulator
+                        sim.reset()
+
+                        # Now we are ready!
+                        # reset articulation
+                        articulation.reset()
+
+                        # Reset should zero external forces and torques
+                        self.assertFalse(articulation.has_external_wrench)
+                        self.assertEqual(torch.count_nonzero(articulation._external_force_b), 0)
+                        self.assertEqual(torch.count_nonzero(articulation._external_torque_b), 0)
+
+    def test_apply_joint_command(self):
+        for num_articulations in (1, 2):
+            for device in ("cuda:0", "cpu"):
+                with self.subTest(num_articulations=num_articulations, device=device):
+                    with build_simulation_context(
+                        gravity_enabled=True, device=device, add_ground_plane=True, auto_add_lighting=True
+                    ) as sim:
+                        articulation_cfg = generate_articulation_cfg(articulation_type="panda")
+                        articulation, _ = generate_articulation(
+                            articulation_cfg=articulation_cfg, num_articulations=num_articulations, device=device
+                        )
+
+                        # Play the simulator
+                        sim.reset()
+
+                        for _ in range(100):
+                            # perform step
+                            sim.step()
+                            # update buffers
+                            articulation.update(sim.cfg.dt)
+
+                        # reset dof state
+                        joint_pos = articulation.data.default_joint_pos
+                        joint_pos[:, 3] = 0.0
+
+                        # apply action to the articulation
+                        articulation.set_joint_position_target(joint_pos)
+                        articulation.write_data_to_sim()
+
+                        for _ in range(100):
+                            # perform step
+                            sim.step()
+                            # update buffers
+                            articulation.update(sim.cfg.dt)
+
+                        # Check that current joint position is not the same as default joint position, meaning
+                        # the articulation moved. We can't check that it reached it's desired joint position as the gains
+                        # are not properly tuned
+                        assert not torch.allclose(articulation.data.joint_pos, joint_pos)
 
 
 if __name__ == "__main__":