update objects

objects/.gitignore

@@ -0,0 +1 @@
+*.md

objects/benchmark/air_freshener/benchmark_air_freshener_000/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.12780406
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/air_freshener/benchmark_air_freshener_000/object_parameters.json

@@ -1,17 +1,17 @@
 {
-  "object_id": "benchmark_air_freshener_000",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_air_freshener_000",
+  "original_model_path": "",
+  "scale": 1,
   "size": [
     0.0683237835764885,
     0.05231565237045288,
     0.06828625500202179
   ],
-  "scale": 1,
   "unit": "m",
-  "model_path": "objects/air_freshener/benchmark_air_freshener_000/Aligned.usd",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": ""
-}
+  ]
+}

objects/benchmark/apple/benchmark_apple_000/Aligned.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ef8de2d5250bf720161ddc400d41384df04d7e213be9f096ecd6c9d474f242ca
-size 183384
+oid sha256:ace952c11ca57595e3e73e4065c1345f1431150965bb40109d508fbbbfd35159
+size 186414

objects/benchmark/apple/benchmark_apple_000/Aligned.usda

@@ -12,18 +12,18 @@ def Xform "World"
 
     def Xform "entity" (
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.42204347
         quatf xformOp:orient = (0.70711, 0.70711, 0, 0)
         uniform token[] xformOpOrder = ["xformOp:orient"]
 
-        over "Aligned" (
+        over "body" (
             delete apiSchemas = ["PhysicsRigidBodyAPI"]
         )
         {
-            over "body" (
+            over "visual" (
                 prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI"]
             )
             {
@@ -31,6 +31,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/apple/benchmark_apple_000/object_parameters.json

@@ -1,17 +1,17 @@
 {
-  "object_id": "benchmark_fruit_000",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_fruit_000",
+  "original_model_path": "",
+  "scale": 1,
   "size": [
     0.09220000356435776,
     0.09319999814033508,
     0.09380000084638596
   ],
-  "scale": 1,
   "unit": "m",
-  "model_path": "objects/geniesim_2025/apple/benchmark_apple_000/Aligned.usd",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": ""
-}
+  ]
+}

objects/benchmark/apple/benchmark_apple_001/Aligned.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9c759539373a9735d0a9d07b85e1b4676abd1df3a4a65642fb860bf67c08cf39
-size 185817
+oid sha256:767fdde2c2e25ede050ceabad8b26437659e418a00d27d784ac96fc2b004c936
+size 188840

objects/benchmark/apple/benchmark_apple_001/Aligned.usda

@@ -12,18 +12,18 @@ def Xform "World"
 
     def Xform "entity" (
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.4302625
         quatf xformOp:orient = (0.70711, 0.70711, 0, 0)
         uniform token[] xformOpOrder = ["xformOp:orient"]
 
-        over "Aligned" (
+        over "body" (
             delete apiSchemas = ["PhysicsRigidBodyAPI"]
         )
         {
-            over "body" (
+            over "visual" (
                 prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI"]
             )
             {
@@ -31,6 +31,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/apple/benchmark_apple_001/object_parameters.json

@@ -1,17 +1,17 @@
 {
-  "object_id": "benchmark_fruit_001",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_fruit_001",
+  "original_model_path": "",
+  "scale": 1,
   "size": [
     0.09059999883174896,
     0.10100000351667404,
     0.08980000019073486
   ],
-  "scale": 1,
   "unit": "m",
-  "model_path": "objects/geniesim_2025/apple/benchmark_apple_001/Aligned.usd",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": ""
-}
+  ]
+}

objects/benchmark/apple/benchmark_apple_002/Aligned.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6dca67c445ba3b8a81a47102fee07387d0ff953b4f2248b8a36aea2e746cbed1
-size 222390
+oid sha256:3ca6d224ea153a55061a7bf751ccb0c246ce2ebcb648f993be9ee6f092bcd48d
+size 225396

objects/benchmark/apple/benchmark_apple_002/Aligned.usda

@@ -12,18 +12,18 @@ def Xform "World"
 
     def Xform "entity" (
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.42288694
         quatf xformOp:orient = (0.70711, 0.70711, 0, 0)
         uniform token[] xformOpOrder = ["xformOp:orient"]
 
-        over "Aligned" (
+        over "body" (
             delete apiSchemas = ["PhysicsRigidBodyAPI"]
         )
         {
-            over "body" (
+            over "visual" (
                 prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI"]
             )
             {
@@ -31,6 +31,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/apple/benchmark_apple_002/object_parameters.json

@@ -1,17 +1,17 @@
 {
-  "object_id": "benchmark_fruit_002",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_fruit_002",
+  "original_model_path": "",
+  "scale": 1,
   "size": [
     0.09300000220537186,
     0.09459999948740005,
     0.09179999679327011
   ],
-  "scale": 1,
   "unit": "m",
-  "model_path": "objects/geniesim_2025/apple/benchmark_apple_002/Aligned.usd",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": ""
-}
+  ]
+}

objects/benchmark/apple/benchmark_apple_003/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.3927883
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/apple/benchmark_apple_003/object_parameters.json

@@ -1,18 +1,18 @@
 {
-  "object_id": "benchmark_fruit_025",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_fruit_025",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "fruit",
   "size": [
     0.08682992681860924,
     0.1009194515645504,
     0.08560647070407867
   ],
-  "scale": 1,
   "unit": "m",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "fruit",
-  "model_path": "objects/geniesim_2025/apple/benchmark_apple_003/Aligned.usd"
-}
+  ]
+}

objects/benchmark/apple/benchmark_apple_004/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.21608628
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/apple/benchmark_apple_004/object_parameters.json

@@ -1,17 +1,18 @@
 {
-    "object_id": "benchmark_apple_004",
-    "materialOptions": [],
-    "size": [
-        0.0737600028514862,
-        0.0745600014925003,
-        0.07504000514745712
-    ],
-    "scale": 1,
-    "unit": "m",
-    "upAxis": [
-        "y"
-    ],
-    "mass": 0.01,
-    "original_model_path": "",
-    "semantic_name": "apple"
-}
+  "mass": 0.01,
+  "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_apple_004",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "apple",
+  "size": [
+    0.0737600028514862,
+    0.0745600014925003,
+    0.07504000514745712
+  ],
+  "unit": "m",
+  "upAxis": [
+    "y"
+  ]
+}

objects/benchmark/apple/benchmark_apple_005/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.72929126
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/apple/benchmark_apple_005/object_parameters.json

@@ -1,17 +1,18 @@
 {
-    "object_id": "benchmark_apple_005",
-    "materialOptions": [],
-    "size": [
-        0.1106400117278099,
-        0.11184000223875046,
-        0.11256000399589539
-    ],
-    "scale": 1,
-    "unit": "m",
-    "upAxis": [
-        "y"
-    ],
-    "mass": 0.01,
-    "original_model_path": "",
-    "semantic_name": "apple"
-}
+  "mass": 0.01,
+  "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_apple_005",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "apple",
+  "size": [
+    0.1106400117278099,
+    0.11184000223875046,
+    0.11256000399589539
+  ],
+  "unit": "m",
+  "upAxis": [
+    "y"
+  ]
+}

objects/benchmark/balance/benchmark_balance_000/Aligned.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0c1ad6c40a77e9dbe00f87e0743c2207cd3118d6e6ee17843f051e6bd0588b10
-size 4991244
+oid sha256:c4cab616d299016d990a5ddfadb44cc34f08b7093b5a4a559fecbac0df7446f7
+size 5001445

objects/benchmark/balance/benchmark_balance_000/Aligned.usda

@@ -11,11 +11,17 @@ def Xform "World"
     uniform token[] xformOpOrder = ["xformOp:orient"]
 
     def Xform "entity" (
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         quatf xformOp:orient = (0.70711, 0.70711, 0, 0)
         uniform token[] xformOpOrder = ["xformOp:orient"]
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/balance/benchmark_balance_000/object_parameters.json

@@ -1,20 +1,4 @@
 {
-  "object_id": "benchmark_balance_000",
-  "materialOptions": [],
-  "size": [
-    0.3273999959230423,
-    0.24166312330209827,
-    0.1273999959230423
-  ],
-  "scale": 1,
-  "unit": "m",
-  "model_path": "objects/balance/benchmark_balance_000/Aligned.usd",
-  "upAxis": [
-    "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "balance",
   "llm_descriptions": {
     "semantic_name": [
       "balance"
@@ -57,5 +41,21 @@
     "full_description": [
       "A compact, symmetrical balance tool with dual black circular heads mounted on a white plastic and metal frame, designed for precision measurement, featuring mixed colors of black, white, and gray across its components."
     ]
-  }
-}
+  },
+  "mass": 0.01,
+  "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_balance_000",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "balance",
+  "size": [
+    0.3273999959230423,
+    0.24166312330209827,
+    0.1273999959230423
+  ],
+  "unit": "m",
+  "upAxis": [
+    "y"
+  ]
+}

objects/benchmark/balance/benchmark_balance_001/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.1
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/balance/benchmark_balance_001/object_parameters.json

@@ -1,20 +1,4 @@
 {
-  "object_id": "benchmark_balance_001",
-  "materialOptions": [],
-  "size": [
-    0.0272000003606081,
-    0.05040000006556511,
-    0.028200000524520874
-  ],
-  "scale": 1,
-  "unit": "m",
-  "model_path": "objects/balance/benchmark_balance_001/Aligned.usd",
-  "upAxis": [
-    "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "balance",
   "llm_descriptions": {
     "semantic_name": [
       "balance"
@@ -50,5 +34,21 @@
     "full_description": [
       "A compact white cylindrical balance with a glossy plastic body and metallic knob, designed for precise measurement in a minimalist form."
     ]
-  }
-}
+  },
+  "mass": 0.01,
+  "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_balance_001",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "balance",
+  "size": [
+    0.0272000003606081,
+    0.05040000006556511,
+    0.028200000524520874
+  ],
+  "unit": "m",
+  "upAxis": [
+    "y"
+  ]
+}

objects/benchmark/balance/benchmark_balance_002/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.1
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/balance/benchmark_balance_002/object_parameters.json

@@ -1,20 +1,4 @@
 {
-  "object_id": "benchmark_balance_002",
-  "materialOptions": [],
-  "size": [
-    0.021800000220537186,
-    0.04019999876618385,
-    0.02239999920129776
-  ],
-  "scale": 1,
-  "unit": "m",
-  "model_path": "objects/balance/benchmark_balance_002/Aligned.usd",
-  "upAxis": [
-    "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "balance",
   "llm_descriptions": {
     "semantic_name": [
       "balance"
@@ -57,5 +41,21 @@
     "full_description": [
       "A compact, white, cylindrical balance with a glossy plastic body and metallic knob, designed for precise measurement, measuring approximately 2.2cm x 4.0cm x 2.2cm."
     ]
-  }
-}
+  },
+  "mass": 0.01,
+  "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_balance_002",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "balance",
+  "size": [
+    0.021800000220537186,
+    0.04019999876618385,
+    0.02239999920129776
+  ],
+  "unit": "m",
+  "upAxis": [
+    "y"
+  ]
+}

objects/benchmark/balance/benchmark_balance_003/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.1
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/balance/benchmark_balance_003/object_parameters.json

@@ -1,20 +1,4 @@
 {
-  "object_id": "benchmark_balance_003",
-  "materialOptions": [],
-  "size": [
-    0.018400000408291817,
-    0.03420000150799751,
-    0.01899999938905239
-  ],
-  "scale": 1,
-  "unit": "m",
-  "model_path": "objects/balance/benchmark_balance_003/Aligned.usd",
-  "upAxis": [
-    "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "balance",
   "llm_descriptions": {
     "semantic_name": [
       "balance"
@@ -52,5 +36,21 @@
     "full_description": [
       "A small white cylindrical balance tool with a knob, made of plastic and metal, featuring a smooth glossy finish and symmetrical design, measuring approximately 0.0184m x 0.0342m x 0.019m."
     ]
-  }
-}
+  },
+  "mass": 0.01,
+  "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_balance_003",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "balance",
+  "size": [
+    0.018400000408291817,
+    0.03420000150799751,
+    0.01899999938905239
+  ],
+  "unit": "m",
+  "upAxis": [
+    "y"
+  ]
+}

objects/benchmark/balance/benchmark_balance_004/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.1
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/balance/benchmark_balance_004/object_parameters.json

@@ -1,20 +1,4 @@
 {
-  "object_id": "benchmark_balance_004",
-  "materialOptions": [],
-  "size": [
-    0.01679999940097332,
-    0.031199999153614044,
-    0.017400000244379044
-  ],
-  "scale": 1,
-  "unit": "m",
-  "model_path": "objects/balance/benchmark_balance_004/Aligned.usd",
-  "upAxis": [
-    "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "balance",
   "llm_descriptions": {
     "semantic_name": [
       "balance"
@@ -54,5 +38,21 @@
     "full_description": [
       "A small, white, cylindrical balance with a knob, made of smooth plastic and metal, designed for precision measurement in a compact form."
     ]
-  }
-}
+  },
+  "mass": 0.01,
+  "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_balance_004",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "balance",
+  "size": [
+    0.01679999940097332,
+    0.031199999153614044,
+    0.017400000244379044
+  ],
+  "unit": "m",
+  "upAxis": [
+    "y"
+  ]
+}

objects/benchmark/balance/benchmark_balance_005/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.1
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/balance/benchmark_balance_005/object_parameters.json

@@ -1,20 +1,4 @@
 {
-  "object_id": "benchmark_balance_005",
-  "materialOptions": [],
-  "size": [
-    0.014000000432133675,
-    0.025800000876188278,
-    0.014399999752640724
-  ],
-  "scale": 1,
-  "unit": "m",
-  "model_path": "objects/balance/benchmark_balance_005/Aligned.usd",
-  "upAxis": [
-    "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "balance",
   "llm_descriptions": {
     "semantic_name": [
       "balance"
@@ -55,5 +39,21 @@
     "full_description": [
       "A compact, white, cylindrical balance with a glossy plastic body and metallic knob, designed for precision measurement in a minimalist and ergonomic form."
     ]
-  }
-}
+  },
+  "mass": 0.01,
+  "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_balance_005",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "balance",
+  "size": [
+    0.014000000432133675,
+    0.025800000876188278,
+    0.014399999752640724
+  ],
+  "unit": "m",
+  "upAxis": [
+    "y"
+  ]
+}

objects/benchmark/balance/benchmark_balance_006/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 0.1
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/balance/benchmark_balance_006/object_parameters.json

@@ -1,20 +1,4 @@
 {
-  "object_id": "benchmark_balance_006",
-  "materialOptions": [],
-  "size": [
-    0.01080000028014183,
-    0.019999999552965164,
-    0.01119999960064888
-  ],
-  "scale": 1,
-  "unit": "m",
-  "model_path": "objects/balance/benchmark_balance_006/Aligned.usd",
-  "upAxis": [
-    "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "balance",
   "llm_descriptions": {
     "semantic_name": [
       "balance"
@@ -56,5 +40,21 @@
     "full_description": [
       "A small, white, cylindrical balance tool with a glossy plastic body and metallic knob, designed for precise measurement in a compact, minimalist form."
     ]
-  }
-}
+  },
+  "mass": 0.01,
+  "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_balance_006",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "balance",
+  "size": [
+    0.01080000028014183,
+    0.019999999552965164,
+    0.01119999960064888
+  ],
+  "unit": "m",
+  "upAxis": [
+    "y"
+  ]
+}

objects/benchmark/ball/benchmark_ball_000/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 14.102142
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/ball/benchmark_ball_000/object_parameters.json

@@ -1,18 +1,18 @@
 {
-  "object_id": "benchmark_ball_000",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_ball_000",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "ball",
   "size": [
     0.2997500002384186,
     0.2997500002384186,
     0.2997500002384186
   ],
-  "scale": 1,
   "unit": "m",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "ball",
-  "model_path": "objects/ball/benchmark_ball_000/Aligned.usd"
-}
+  ]
+}

objects/benchmark/ball/benchmark_ball_001/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 14.374794
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/ball/benchmark_ball_001/object_parameters.json

@@ -1,18 +1,18 @@
 {
-  "object_id": "benchmark_ball_001",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_ball_001",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "ball",
   "size": [
     0.2997500002384186,
     0.3026338219642639,
     0.3026338219642639
   ],
-  "scale": 1,
   "unit": "m",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "ball",
-  "model_path": "objects/ball/benchmark_ball_001/Aligned.usd"
-}
+  ]
+}

objects/benchmark/ball/benchmark_ball_002/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 13.948843
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/ball/benchmark_ball_002/object_parameters.json

@@ -1,18 +1,18 @@
 {
-  "object_id": "benchmark_ball_002",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_ball_002",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "ball",
   "size": [
     0.29959866404533386,
     0.2981915920972824,
     0.2981916069984436
   ],
-  "scale": 1,
   "unit": "m",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "ball",
-  "model_path": "objects/ball/benchmark_ball_002/Aligned.usd"
-}
+  ]
+}

objects/benchmark/ball/benchmark_ball_003/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 14.628977
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/ball/benchmark_ball_003/object_parameters.json

@@ -1,18 +1,18 @@
 {
-  "object_id": "benchmark_ball_003",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_ball_003",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "ball",
   "size": [
     0.3052060604095459,
     0.3025566041469574,
     0.3025566041469574
   ],
-  "scale": 1,
   "unit": "m",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "ball",
-  "model_path": "objects/ball/benchmark_ball_003/Aligned.usd"
-}
+  ]
+}

objects/benchmark/ball/benchmark_ball_004/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 14.102142
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/ball/benchmark_ball_004/object_parameters.json

@@ -1,18 +1,18 @@
 {
-  "object_id": "benchmark_ball_004",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_ball_004",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "ball",
   "size": [
     0.2997500002384186,
     0.2997500002384186,
     0.2997500002384186
   ],
-  "scale": 1,
   "unit": "m",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "ball",
-  "model_path": "objects/ball/benchmark_ball_004/Aligned.usd"
-}
+  ]
+}

objects/benchmark/ball/benchmark_ball_005/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 14.226993
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/ball/benchmark_ball_005/object_parameters.json

@@ -1,18 +1,18 @@
 {
-  "object_id": "benchmark_ball_005",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_ball_005",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "ball",
   "size": [
     0.2995067238807678,
     0.30119621753692627,
     0.30119621753692627
   ],
-  "scale": 1,
   "unit": "m",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "ball",
-  "model_path": "objects/ball/benchmark_ball_005/Aligned.usd"
-}
+  ]
+}

objects/benchmark/ball/benchmark_ball_006/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 14.24707
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/ball/benchmark_ball_006/object_parameters.json

@@ -1,18 +1,18 @@
 {
-  "object_id": "benchmark_ball_006",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_ball_006",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "ball",
   "size": [
     0.2995067238807678,
     0.302478551864624,
     0.3003425598144531
   ],
-  "scale": 1,
   "unit": "m",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "ball",
-  "model_path": "objects/ball/benchmark_ball_006/Aligned.usd"
-}
+  ]
+}

objects/benchmark/ball/benchmark_ball_007/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 8.181398
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"

objects/benchmark/ball/benchmark_ball_007/object_parameters.json

@@ -1,18 +1,18 @@
 {
-  "object_id": "benchmark_ball_007",
+  "mass": 0.01,
   "materialOptions": [],
+  "model_path": "",
+  "object_id": "benchmark_ball_007",
+  "original_model_path": "",
+  "scale": 1,
+  "semantic_name": "ball",
   "size": [
     0.25,
     0.25,
     0.25
   ],
-  "scale": 1,
   "unit": "m",
   "upAxis": [
     "y"
-  ],
-  "mass": 0.01,
-  "original_model_path": "",
-  "semantic_name": "ball",
-  "model_path": "objects/ball/benchmark_ball_007/Aligned.usd"
-}
+  ]
+}

objects/benchmark/ball/benchmark_ball_008/Aligned.usda

@@ -13,7 +13,7 @@ def Xform "World"
     def Xform "entity" (
         delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        prepend payload = @./Aligned.usd@
+        prepend payload = @Aligned.usd@
     )
     {
         float physics:mass = 8.339579
@@ -30,6 +30,12 @@ def Xform "World"
                 bool physics:collisionEnabled = 1
             }
         }
+
+        over "PhysicsMaterial"
+        {
+            float physics:dynamicFriction = 0.3
+            float physics:staticFriction = 0.5
+        }
     }
 
     def Xform "lowpoly"