Update dataset card for the v03 asset layout (PhysX variant, LODs, thumbnails)

README.md

@@ -28,13 +28,13 @@ in Isaac Sim. The validation and benchmark results travel with the package.
 
 | | |
 |---|---|
-| Objects | [N] real-world objects, one package each |
-| Profile | `Robotics-Prop` [4.0.0] (SimReady Foundation) |
+| Objects | 100 real-world objects, one package each |
+| Profile | `Robotics-Prop` 4.0.0 (SimReady Foundation) |
 | Up axis / units | Z-up, meters (`metersPerUnit = 1`), kilograms |
-| Visual LODs | `1` = 300k-triangle mesh (**default**), `0` = native scan mesh |
-| Colliders | `sdf` (**default**) and convex decomposition (CoACD) |
-| Physics | rigid body with the mass of the weighed object, friction and restitution from the material class |
-| Materials | UsdPreviewSurface PBR |
+| Visual LODs | `0` = full-resolution scan mesh (**default**, 0.8–2.6 M triangles), `1` = reduced mesh (about 600k triangles) |
+| Colliders | convex decomposition (CoACD) by **default**; with the `PhysX` variant enabled, an SDF collider (default there) or the convex decomposition |
+| Physics | rigid body with the mass of the weighed object, friction and restitution from the material class; plain UsdPhysics by default, PhysX-specific settings in an optional variant |
+| Materials | UsdPreviewSurface PBR, with non-visual material classes for sensor simulation |
 | Semantics | Wikidata Q-code labels for the object and its materials |
 | License | CC-BY-4.0 |
 
@@ -49,12 +49,17 @@ start with a digit.
 ├─ com.nvidia.simready.packaging.json        package definition (package ID, version, license)
 ├─ .metadata/
 │  ├─ com.nvidia.simready.packaging.bom.json  bill of materials: every file with its SHA-256 hash
+│  ├─ com.nvidia.simready.conformance.*.json  packaging profile result
 │  ├─ <ID>_validation.json                    profile validation results
 │  └─ <ID>_benchmark.json                     Isaac Sim benchmark results
 └─ simready_usd/
    ├─ <ID>.usd                                entry file: open or reference this one
-   ├─ .thumbs/256x256/<ID>.usd.png            thumbnail
+   ├─ .thumbs/256x256/
+   │  ├─ <ID>.usd.png                         thumbnail, dark background
+   │  ├─ <ID>.usd_light.png                   thumbnail, light background
+   │  └─ <ID>.usd_transparent.png             thumbnail, transparent background
    ├─ payloads/                               geometry, LOD and physics layers
+   ├─ runnables/physics/physx.usda            PhysX-specific settings, loaded by the PhysX variant
    └─ textures/
 ```
 
@@ -99,15 +104,16 @@ To download a fixed version, pass the commit as `revision`.
 
 Drag `<ID>/simready_usd/<ID>.usd` into the viewport or the Stage window, or add it as a
 reference from Python. The asset appears under a prim of your choice (for example
-`/World/Object`), and both variant sets are available on that prim.
+`/World/Object`), and its variant sets are available on that prim.
 
 ### In the UI
 
 Select the asset's top prim in the Stage window. In the **Property** panel, under
 **Variants**, set:
 
-- **`lod`**: `1` (300k triangles, default) or `0` (native, full resolution);
-- **`collision_mode`**: `sdf` (default) or `convexHull` (convex decomposition).
+- **`lod`**: `0` (full resolution, default) or `1` (reduced);
+- **`PhysX`**: `Disabled` (default) or `Enabled`;
+- **`collision_mode`**, shown once `PhysX` is `Enabled`: `sdf` (default) or `convexHull`.
 
 ### From Python
 
@@ -118,7 +124,8 @@ stage = omni.usd.get_context().get_stage()
 prim = stage.DefinePrim("/World/Object", "Xform")
 prim.GetReferences().AddReference("/path/to/<ID>/simready_usd/<ID>.usd")
 
-prim.GetVariantSet("lod").SetVariantSelection("0")                   # native mesh
+prim.GetVariantSet("lod").SetVariantSelection("1")                   # reduced mesh
+prim.GetVariantSet("PhysX").SetVariantSelection("Enabled")           # load the PhysX settings
 prim.GetVariantSet("collision_mode").SetVariantSelection("convexHull")
 ```
 
@@ -127,21 +134,26 @@ unchanged.
 
 ### Level of detail (`lod`)
 
-- **`1`** (default) is the 300k-triangle version, for simulation and synthetic data.
-- **`0`** is the original scan-resolution mesh.
+- **`0`** (default) is the original scan-resolution mesh, 0.8–2.6 million triangles.
+- **`1`** is a reduced mesh of about 600,000 triangles, for simulation and synthetic data.
 
 Each level is stored in its own file inside the package. Only the selected level is
 composed into the scene.
 
-### Colliders (`collision_mode`)
+### Physics (`PhysX` and `collision_mode`)
 
-- **`sdf`** (default): signed-distance-field mesh collision on a precise collider mesh.
-  It is accurate for non-convex shapes.
-- **`convexHull`**: a convex decomposition of the object, made with CoACD. It is
-  cheaper and works with more PhysX features, but it is less accurate for concave
-  geometry.
+- **`PhysX` = `Disabled`** (default): the asset uses plain UsdPhysics only: a rigid body,
+  its mass, a physics material and a convex decomposition of the object, made with CoACD.
+  Any UsdPhysics-based simulator can use it.
+- **`PhysX` = `Enabled`**: adds the PhysX-specific settings from
+  `runnables/physics/physx.usda`, and with them the `collision_mode` variant set:
+  - **`sdf`** (default): signed-distance-field mesh collision on a precise collider mesh.
+    It is accurate for non-convex shapes.
+  - **`convexHull`**: the CoACD convex decomposition. It is cheaper and works with more
+    PhysX features, but it is less accurate for concave geometry.
 
-Only the selected kind is active. Mass and physics materials are the same in both modes.
+Only the selected kind of collider is active. Mass and physics materials are the same in
+every mode.
 
 ## Notes