Worked on the Genesis-Embodied-AI/Genesis repository to enable USD-based asset import for rigid body simulations, focusing on expanding the simulator’s support for complex 3D models. Developed a dedicated USD parser in Python to handle geometry and material data, integrating it into the simulation pipeline for seamless asset ingestion. Enhanced the rigid body handling system to instantiate assets directly from USD files, streamlining the end-to-end import workflow and reducing manual setup. Leveraged skills in 3D graphics, physics simulation, and USD parsing to improve interoperability with common 3D content pipelines, thereby increasing model availability and realism within the Genesis simulation environment.