diff --git a/batch10/D00006 Bamboo Basket/IsaacSim_assets_69f80eaed09344200f05945b/physics_69f80eaed09344200f05945b.json b/batch10/D00006 Bamboo Basket/IsaacSim_assets_69f80eaed09344200f05945b/physics_69f80eaed09344200f05945b.json
new file mode 100644
index 0000000000000000000000000000000000000000..b293d18e87c8ab6c6c8900362edf475e53d2d185
--- /dev/null
+++ b/batch10/D00006 Bamboo Basket/IsaacSim_assets_69f80eaed09344200f05945b/physics_69f80eaed09344200f05945b.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.14076972007751465,
+        0.3840261995792389,
+        0.1409749686717987
+      ],
+      "min": [
+        -0.1407332867383957,
+        -5.481290281750262e-05,
+        -0.14139702916145325
+      ],
+      "size": [
+        0.28150300681591034,
+        0.3840810124820564,
+        0.28237199783325195
+      ]
+    },
+    "description": "A woven bamboo basket with a cylindrical base and a prominent arched handle. The structure consists of intertwined light brown natural wood fibers.",
+    "name": "D00006 Bamboo Basket",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.8
+  },
+  "asset_id": "D00006",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -3.0771195929312394e-05,
+          0.10880979294816674,
+          -0.00011723110278466303
+        ],
+        "max": [
+          0.14076972007751465,
+          0.3840261995792389,
+          0.1409749686717987
+        ],
+        "min": [
+          -0.1407332867383957,
+          -5.481290281750262e-05,
+          -0.14139702916145325
+        ]
+      },
+      "center_of_mass": [
+        -2.842863132217554e-05,
+        0.00011394147738282577,
+        0.1568551357693645
+      ],
+      "collision": {},
+      "density": 540.0,
+      "id": "part_00",
+      "inertia": [
+        0.006581437007888494,
+        0.009388489114857953,
+        0.009837807941003137
+      ],
+      "mass": 0.8,
+      "material": "wood",
+      "name": "D00006 Bamboo Basket",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00006 Bamboo Basket",
+        "part_name": "D00006 Bamboo Basket"
+      },
+      "volume": 0.01642077234085267
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.8
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00015 Banana/IsaacSim_assets_69f1eea459057a9310588ca4/physics_69f1eea459057a9310588ca4.json b/batch10/D00015 Banana/IsaacSim_assets_69f1eea459057a9310588ca4/physics_69f1eea459057a9310588ca4.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dd29f88851547400fe46d295e44981744508d0b
--- /dev/null
+++ b/batch10/D00015 Banana/IsaacSim_assets_69f1eea459057a9310588ca4/physics_69f1eea459057a9310588ca4.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.07663899660110474,
+        0.015595000237226486,
+        0.09404899924993515
+      ],
+      "min": [
+        -0.06084800139069557,
+        -0.016452999785542488,
+        -5.700000110664405e-05
+      ],
+      "size": [
+        0.1374869979918003,
+        0.032048000022768974,
+        0.0941059992510418
+      ]
+    },
+    "description": "A curved yellow banana with brown tips at the stem and blossom ends.",
+    "name": "D00015 Banana",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.12
+  },
+  "asset_id": "D00015",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0024505295743559967,
+          -0.00013193894303694173,
+          0.03166818881200252
+        ],
+        "max": [
+          0.07663899660110474,
+          0.015595000237226486,
+          0.09404899924993515
+        ],
+        "min": [
+          -0.06084800139069557,
+          -0.016452999785542488,
+          -5.700000110664405e-05
+        ]
+      },
+      "center_of_mass": [
+        0.001597719304338117,
+        -0.00082961704716071,
+        0.03997648543742374
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        4.68486251566127e-05,
+        0.00014114160427608472,
+        0.0001757690941636925
+      ],
+      "mass": 0.12,
+      "material": "organic",
+      "name": "D00015 Banana",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00015 Banana",
+        "part_name": "D00015 Banana"
+      },
+      "volume": 0.0001887251263241863
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.12
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00304 Flour Tray/IsaacSim_assets_69f2422b59057a93106021c6/physics_69f2422b59057a93106021c6.json b/batch10/D00304 Flour Tray/IsaacSim_assets_69f2422b59057a93106021c6/physics_69f2422b59057a93106021c6.json
new file mode 100644
index 0000000000000000000000000000000000000000..91c7c21af587a0cf759fac52f683ea4f6c594a0f
--- /dev/null
+++ b/batch10/D00304 Flour Tray/IsaacSim_assets_69f2422b59057a93106021c6/physics_69f2422b59057a93106021c6.json	
@@ -0,0 +1,110 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.09003300219774246,
+        0.11843500286340714,
+        0.043466001749038696
+      ],
+      "min": [
+        -0.09176100045442581,
+        -0.11872900277376175,
+        -0.00016399999731220305
+      ],
+      "size": [
+        0.18179400265216827,
+        0.23716400563716888,
+        0.0436300017463509
+      ]
+    },
+    "description": "A white, rectangular ceramic baking dish with a glossy finish and a thick, rounded rim.",
+    "name": "D00304 Flour Tray",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.5
+  },
+  "asset_id": "D00304",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0008436244324265042,
+          -0.00015191448082766955,
+          0.01592877006431463
+        ],
+        "max": [
+          0.09003300219774246,
+          0.11843500286340714,
+          0.043466001749038696
+        ],
+        "min": [
+          -0.09176100045442581,
+          -0.11872900277376175,
+          -0.00016399999731220305
+        ]
+      },
+      "center_of_mass": [
+        -0.00013494394137182112,
+        -0.0001217893111427544,
+        0.021613205817028587
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.002735009729889089,
+        0.004374939074973208,
+        0.0066996176097817595
+      ],
+      "mass": 1.5,
+      "material": "ceramic",
+      "name": "D00304 Flour Tray",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00304 Flour Tray",
+        "part_name": "D00304 Flour Tray"
+      },
+      "volume": 0.0010685033138440015
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {},
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.18179400265216827,
+        0.23716400563716888,
+        0.0436300017463509
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.5
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00595 Pastry Dough/IsaacSim_assets_69f60bad431507ff7c0656d0/physics_69f60bad431507ff7c0656d0.json b/batch10/D00595 Pastry Dough/IsaacSim_assets_69f60bad431507ff7c0656d0/physics_69f60bad431507ff7c0656d0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2091176408c3945154832105dd534cb021914c6
--- /dev/null
+++ b/batch10/D00595 Pastry Dough/IsaacSim_assets_69f60bad431507ff7c0656d0/physics_69f60bad431507ff7c0656d0.json	
@@ -0,0 +1,110 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.17260125279426575,
+        0.17241549491882324,
+        0.17540806531906128
+      ],
+      "min": [
+        -0.2134450227022171,
+        -0.1045369952917099,
+        9.686733392300084e-05
+      ],
+      "size": [
+        0.38604627549648285,
+        0.27695249021053314,
+        0.17531119798513828
+      ]
+    },
+    "description": "A rectangular block of layered raw pastry dough with a flour-dusted top surface and visibly defined strata on its sides.",
+    "name": "D00595 Pastry Dough",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.55
+  },
+  "asset_id": "D00595",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.015430475441728809,
+          0.02262678956319963,
+          0.07972413980889154
+        ],
+        "max": [
+          0.17260125279426575,
+          0.17241549491882324,
+          0.17540806531906128
+        ],
+        "min": [
+          -0.2134450227022171,
+          -0.1045369952917099,
+          9.686733392300084e-05
+        ]
+      },
+      "center_of_mass": [
+        -0.018392309311951353,
+        0.02896597361325487,
+        0.08125819827946866
+      ],
+      "collision": {},
+      "density": 1150.0,
+      "id": "part_00",
+      "inertia": [
+        0.004301993284080221,
+        0.006829521734469164,
+        0.00895572226191512
+      ],
+      "mass": 0.55,
+      "material": "dough_flour_water_mixture",
+      "name": "D00595 Pastry Dough",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00595 Pastry Dough",
+        "part_name": "D00595 Pastry Dough"
+      },
+      "volume": 0.015036300361152534
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {},
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.38604627549648285,
+        0.27695249021053314,
+        0.17531119798513828
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.55
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00691 Sandwich/IsaacSim_assets_6a577cbac736368e416d7d46/physics_6a577cbac736368e416d7d46.json b/batch10/D00691 Sandwich/IsaacSim_assets_6a577cbac736368e416d7d46/physics_6a577cbac736368e416d7d46.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a04b022dc34dfc4b412f55d3d19efe694bedc20
--- /dev/null
+++ b/batch10/D00691 Sandwich/IsaacSim_assets_6a577cbac736368e416d7d46/physics_6a577cbac736368e416d7d46.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.06266547,
+        0.07366385,
+        0.05538477
+      ],
+      "min": [
+        -0.06009811,
+        0.0,
+        -0.06001753
+      ],
+      "size": [
+        0.12276358000000001,
+        0.07366385,
+        0.1154023
+      ]
+    },
+    "description": "A multi-layered sandwich with toasted bread, cheese, tomato, and lettuce. The dimensions are approximately 120 x 120 x 80 mm.",
+    "name": "generated reference 01",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.25
+  },
+  "asset_id": "D00691",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.001047625313597096,
+          0.03473540607257124,
+          -0.001326906931862296
+        ],
+        "max": [
+          0.06266547,
+          0.07366385,
+          0.05538477
+        ],
+        "min": [
+          -0.06009811,
+          0.0,
+          -0.06001753
+        ]
+      },
+      "center_of_mass": [
+        0.0011511791501928556,
+        0.0015224267120763945,
+        0.03556645344179668
+      ],
+      "collision": {},
+      "density": 250.0,
+      "id": "part_00",
+      "inertia": [
+        0.00029932994539818094,
+        0.00034764370157603877,
+        0.0004376983085034921
+      ],
+      "mass": 0.25,
+      "material": "toasted_bread",
+      "name": "generated reference 01",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "generated reference 01",
+        "part_name": "generated reference 01"
+      },
+      "volume": 0.0007900811679286083
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.25
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00778 Spoon Kitchen/IsaacSim_assets_69f664147f5104dbf27305d0/physics_69f664147f5104dbf27305d0.json b/batch10/D00778 Spoon Kitchen/IsaacSim_assets_69f664147f5104dbf27305d0/physics_69f664147f5104dbf27305d0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab24df66c330b5b635366b2b133247d661a82b6d
--- /dev/null
+++ b/batch10/D00778 Spoon Kitchen/IsaacSim_assets_69f664147f5104dbf27305d0/physics_69f664147f5104dbf27305d0.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.11398528516292572,
+        0.03206399828195572,
+        0.03842783719301224
+      ],
+      "min": [
+        -0.16757671535015106,
+        -8.90023511601612e-05,
+        -0.0386381633579731
+      ],
+      "size": [
+        0.2815620005130768,
+        0.03215300063311588,
+        0.07706600055098534
+      ]
+    },
+    "description": "A polished stainless-steel serving spoon with a shallow oval bowl, tapered handle, and a hanging hole at the end. The surface is smooth and highly reflective with a silver finish.",
+    "name": "D00778 Spoon Kitchen",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.385
+  },
+  "asset_id": "D00778",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0018352630478707954,
+          0.016467103174831035,
+          -0.00013168478909650542
+        ],
+        "max": [
+          0.11398528516292572,
+          0.03206399828195572,
+          0.03842783719301224
+        ],
+        "min": [
+          -0.16757671535015106,
+          -8.90023511601612e-05,
+          -0.0386381633579731
+        ]
+      },
+      "center_of_mass": [
+        -0.0025639721722502005,
+        8.145711620723897e-05,
+        0.01899178080819167
+      ],
+      "collision": {},
+      "density": 7900.0,
+      "id": "part_00",
+      "inertia": [
+        9.455446857873959e-05,
+        0.002468451017675749,
+        0.0025274177686348286
+      ],
+      "mass": 0.385,
+      "material": "stainless_steel",
+      "name": "D00778 Spoon Kitchen",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00778 Spoon Kitchen",
+        "part_name": "D00778 Spoon Kitchen"
+      },
+      "volume": 3.2210253120625356e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.385
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00815 Storage Basket Bowl/IsaacSim_assets_69f675587f5104dbf28274d5/physics_69f675587f5104dbf28274d5.json b/batch10/D00815 Storage Basket Bowl/IsaacSim_assets_69f675587f5104dbf28274d5/physics_69f675587f5104dbf28274d5.json
new file mode 100644
index 0000000000000000000000000000000000000000..b42434eb97589f87b504d19cc9420d860b66e04b
--- /dev/null
+++ b/batch10/D00815 Storage Basket Bowl/IsaacSim_assets_69f675587f5104dbf28274d5/physics_69f675587f5104dbf28274d5.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.1687128245830536,
+        0.1336497813463211,
+        0.16976873576641083
+      ],
+      "min": [
+        -0.16993823647499084,
+        0.0,
+        -0.16925449669361115
+      ],
+      "size": [
+        0.33865106105804443,
+        0.1336497813463211,
+        0.339023232460022
+      ]
+    },
+    "description": "An off-white round woven basket bowl made from smooth wicker or resin strands, with a thick braided rim and open lattice walls.",
+    "name": "D00815 Storage Basket Bowl",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.75
+  },
+  "asset_id": "D00815",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0006535164728211935,
+          0.056663773116688784,
+          0.00022765652907947678
+        ],
+        "max": [
+          0.1687128245830536,
+          0.1336497813463211,
+          0.16976873576641083
+        ],
+        "min": [
+          -0.16993823647499084,
+          0.0,
+          -0.16925449669361115
+        ]
+      },
+      "center_of_mass": [
+        -0.0003259346134844419,
+        -0.05314566920588247,
+        -0.0004691907094576141
+      ],
+      "collision": {},
+      "density": 550.0,
+      "id": "part_00",
+      "inertia": [
+        0.008058408607904025,
+        0.008184352968357138,
+        0.013372556783910628
+      ],
+      "mass": 0.75,
+      "material": "wicker",
+      "name": "D00815 Storage Basket Bowl",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00815 Storage Basket Bowl",
+        "part_name": "D00815 Storage Basket Bowl"
+      },
+      "volume": 0.0015466439945581944
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.75
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00828 Strain/IsaacSim_assets_6a5777a2c736368e416ceaa9/physics_6a5777a2c736368e416ceaa9.json b/batch10/D00828 Strain/IsaacSim_assets_6a5777a2c736368e416ceaa9/physics_6a5777a2c736368e416ceaa9.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f08a98f7196c81b3f55d0db9f9eb4989a6f9425
--- /dev/null
+++ b/batch10/D00828 Strain/IsaacSim_assets_6a5777a2c736368e416ceaa9/physics_6a5777a2c736368e416ceaa9.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.09500316,
+        0.08315729,
+        0.07399245
+      ],
+      "min": [
+        -0.09466765,
+        0.0,
+        -0.07503015
+      ],
+      "size": [
+        0.18967081000000002,
+        0.08315729,
+        0.1490226
+      ]
+    },
+    "description": "A white ceramic strainer bowl with evenly spaced holes and two side handles.",
+    "name": "generated reference 01",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.35
+  },
+  "asset_id": "D00828",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0001893480961127691,
+          0.04069982933346995,
+          -0.00012779482471043813
+        ],
+        "max": [
+          0.09500316,
+          0.08315729,
+          0.07399245
+        ],
+        "min": [
+          -0.09466765,
+          0.0,
+          -0.07503015
+        ]
+      },
+      "center_of_mass": [
+        -0.0005269050932593971,
+        -4.076344913417e-05,
+        0.04113965816564652
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.0008344337103610623,
+        0.0010068861745111033,
+        0.001332036348870575
+      ],
+      "mass": 0.35,
+      "material": "ceramic",
+      "name": "generated reference 01",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "generated reference 01",
+        "part_name": "generated reference 01"
+      },
+      "volume": 0.00015792926897067932
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.35
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00854 Tea Pot/IsaacSim_assets_69f69a127f5104dbf2a2a2d6/physics_69f69a127f5104dbf2a2a2d6.json b/batch10/D00854 Tea Pot/IsaacSim_assets_69f69a127f5104dbf2a2a2d6/physics_69f69a127f5104dbf2a2a2d6.json
new file mode 100644
index 0000000000000000000000000000000000000000..6787d63d9c8f66a5d68f7dc86d14c631111ec37c
--- /dev/null
+++ b/batch10/D00854 Tea Pot/IsaacSim_assets_69f69a127f5104dbf2a2a2d6/physics_69f69a127f5104dbf2a2a2d6.json	
@@ -0,0 +1,296 @@
+{
+  "articulation": {
+    "has_joints": true,
+    "joints": [
+      {
+        "axis": [],
+        "child": "part_00",
+        "damping": 0.0,
+        "effort": 0.0,
+        "friction": 0.0,
+        "joint_rotation_local": [],
+        "joint_type": "fixed",
+        "name": "joint_part_01__part_00",
+        "origin": [],
+        "parent": "part_01",
+        "rest_pose_state": "unknown",
+        "score": 0.65,
+        "stiffness": 0.0,
+        "velocity": 0.0
+      },
+      {
+        "axis": [
+          0.0,
+          1.0,
+          0.0
+        ],
+        "child": "part_02",
+        "damping": 1.8,
+        "effort": 6.0,
+        "friction": 0.8,
+        "joint_origin_world": [
+          0.021062999963760376,
+          9.649991989135742e-05,
+          0.10190600156784058
+        ],
+        "joint_rotation_local": [],
+        "joint_type": "revolute",
+        "motion_limits": {
+          "max": 0.0,
+          "min": -110.0
+        },
+        "name": "joint_part_00__part_02",
+        "origin": [
+          0.021062999963760376,
+          9.649991989135742e-05,
+          0.10190600156784058
+        ],
+        "parent": "part_00",
+        "rest_pose_state": "open",
+        "revolute_mode": "hinge",
+        "score": 0.95,
+        "stiffness": 0.0,
+        "velocity": 3.0
+      },
+      {
+        "axis": [],
+        "child": "part_03",
+        "damping": 0.0,
+        "effort": 0.0,
+        "friction": 0.0,
+        "joint_rotation_local": [],
+        "joint_type": "fixed",
+        "name": "joint_part_01__part_03",
+        "origin": [],
+        "parent": "part_01",
+        "rest_pose_state": "unknown",
+        "score": 0.95,
+        "stiffness": 0.0,
+        "velocity": 0.0
+      }
+    ]
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.099583,
+        0.170278,
+        0.055364
+      ],
+      "min": [
+        -0.118045,
+        -9.5e-05,
+        -0.055416
+      ],
+      "size": [
+        0.217628,
+        0.17037300000000002,
+        0.11077999999999999
+      ]
+    },
+    "description": "A realistic cast iron teapot with a main body, pouring spout, handle, and a removable lid.",
+    "name": "hinge",
+    "object_type": "rigid_bodies",
+    "total_mass": 2.2
+  },
+  "asset_id": "D00854",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.023656,
+          0.09813,
+          -0.000121
+        ],
+        "max": [
+          0.028487,
+          0.106198,
+          0.006488
+        ],
+        "min": [
+          0.018824,
+          0.090062,
+          -0.006729
+        ]
+      },
+      "center_of_mass": [
+        0.02380922966450082,
+        0.0001653793558718438,
+        0.09828747721395345
+      ],
+      "collision": {},
+      "density": 7200.0,
+      "id": "part_00",
+      "inertia": [
+        2.0580240687516836e-07,
+        2.2441135082920008e-07,
+        2.936021486906644e-07
+      ],
+      "mass": 0.01,
+      "material": "cast iron",
+      "name": "hinge",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "part_0",
+        "part_name": "part_0"
+      },
+      "volume": 5.198480717085023e-07
+    },
+    {
+      "bounds": {
+        "center": [
+          -0.030364,
+          0.050481,
+          -2.6e-05
+        ],
+        "max": [
+          0.057317,
+          0.101056,
+          0.055364
+        ],
+        "min": [
+          -0.118045,
+          -9.5e-05,
+          -0.055416
+        ]
+      },
+      "center_of_mass": [
+        -0.02140444093037611,
+        5.683208771748854e-05,
+        0.047701584718893825
+      ],
+      "collision": {},
+      "density": 7200.0,
+      "id": "part_01",
+      "inertia": [
+        0.0020964845612653727,
+        0.0030301218579793627,
+        0.0031122509963248455
+      ],
+      "mass": 1.6,
+      "material": "cast iron",
+      "name": "body",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "part_1",
+        "part_name": "part_1"
+      },
+      "volume": 0.0010233996731155656
+    },
+    {
+      "bounds": {
+        "center": [
+          0.039344,
+          0.136091,
+          -4.7e-05
+        ],
+        "max": [
+          0.05768,
+          0.170278,
+          0.036492
+        ],
+        "min": [
+          0.021008,
+          0.101904,
+          -0.036586
+        ]
+      },
+      "center_of_mass": [
+        0.017769065459778154,
+        2.179145914072787e-05,
+        0.03354240667954345
+      ],
+      "collision": {},
+      "density": 7200.0,
+      "id": "part_02",
+      "inertia": [
+        8.034763638532273e-05,
+        8.402717740279214e-05,
+        0.00014175042401925425
+      ],
+      "mass": 0.3,
+      "material": "cast iron",
+      "name": "lid",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "part_2",
+        "part_name": "part_2"
+      },
+      "volume": 5.9532688285859546e-05
+    },
+    {
+      "bounds": {
+        "center": [
+          0.072446,
+          0.061435,
+          -3e-06
+        ],
+        "max": [
+          0.099583,
+          0.106139,
+          0.006877
+        ],
+        "min": [
+          0.045309,
+          0.01673,
+          -0.006883
+        ]
+      },
+      "center_of_mass": [
+        0.0767069662251142,
+        4.85433662214971e-05,
+        0.06931178860591922
+      ],
+      "collision": {},
+      "density": 7200.0,
+      "id": "part_03",
+      "inertia": [
+        6.201938625228628e-05,
+        0.00021423598585434134,
+        0.00026417310953508844
+      ],
+      "mass": 0.29,
+      "material": "cast iron",
+      "name": "handle",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "part_3",
+        "part_name": "part_3"
+      },
+      "volume": 8.356795105589591e-06
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 2.2
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 4
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 3
+    }
+  }
+}
diff --git a/batch10/D00860 Teaspoon/IsaacSim_assets_69f6a3b77f5104dbf2ab8c6e/physics_69f6a3b77f5104dbf2ab8c6e.json b/batch10/D00860 Teaspoon/IsaacSim_assets_69f6a3b77f5104dbf2ab8c6e/physics_69f6a3b77f5104dbf2ab8c6e.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fe51b8e14d799d6df16d4a7c763a9941e5f347c
--- /dev/null
+++ b/batch10/D00860 Teaspoon/IsaacSim_assets_69f6a3b77f5104dbf2ab8c6e/physics_69f6a3b77f5104dbf2ab8c6e.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.05209369212388992,
+        0.01977909915149212,
+        0.019614381715655327
+      ],
+      "min": [
+        -0.0929173082113266,
+        1.909903767227661e-05,
+        -0.01974261924624443
+      ],
+      "size": [
+        0.14501100033521652,
+        0.019760000113819842,
+        0.03935700096189976
+      ]
+    },
+    "description": "A silver stainless steel teaspoon with a smooth, curved handle and a shallow oval bowl.",
+    "name": "D00860 Teaspoon",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.053
+  },
+  "asset_id": "D00860",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0036413742367426847,
+          0.01017453425384444,
+          -4.731449161603199e-05
+        ],
+        "max": [
+          0.05209369212388992,
+          0.01977909915149212,
+          0.019614381715655327
+        ],
+        "min": [
+          -0.0929173082113266,
+          1.909903767227661e-05,
+          -0.01974261924624443
+        ]
+      },
+      "center_of_mass": [
+        0.0006665730365956411,
+        -5.5781664790108515e-05,
+        0.011641977463023914
+      ],
+      "collision": {},
+      "density": 8000.0,
+      "id": "part_00",
+      "inertia": [
+        3.6530693718727753e-06,
+        5.143679231017946e-05,
+        5.359162652863783e-05
+      ],
+      "mass": 0.053,
+      "material": "stainless_steel",
+      "name": "D00860 Teaspoon",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00860 Teaspoon",
+        "part_name": "D00860 Teaspoon"
+      },
+      "volume": 3.41860013404589e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.053
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00881 Tray Board/IsaacSim_assets_69f6b4c67f5104dbf2bbd02b/physics_69f6b4c67f5104dbf2bbd02b.json b/batch10/D00881 Tray Board/IsaacSim_assets_69f6b4c67f5104dbf2bbd02b/physics_69f6b4c67f5104dbf2bbd02b.json
new file mode 100644
index 0000000000000000000000000000000000000000..428b1cbed5ff11dc99825ec67c0e5c01f4717b10
--- /dev/null
+++ b/batch10/D00881 Tray Board/IsaacSim_assets_69f6b4c67f5104dbf2bbd02b/physics_69f6b4c67f5104dbf2bbd02b.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.20361100137233734,
+        0.12321799993515015,
+        0.03328600153326988
+      ],
+      "min": [
+        -0.2007409930229187,
+        -0.12169700115919113,
+        -0.0001720000000204891
+      ],
+      "size": [
+        0.40435199439525604,
+        0.24491500109434128,
+        0.03345800153329037
+      ]
+    },
+    "description": "A white rectangular ceramic serving tray with integrated handles on the shorter sides.",
+    "name": "D00881 Tray Board",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.37
+  },
+  "asset_id": "D00881",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0010182008374717295,
+          0.0009238312903997323,
+          0.009143543505857714
+        ],
+        "max": [
+          0.20361100137233734,
+          0.12321799993515015,
+          0.03328600153326988
+        ],
+        "min": [
+          -0.2007409930229187,
+          -0.12169700115919113,
+          -0.0001720000000204891
+        ]
+      },
+      "center_of_mass": [
+        0.0018165540180408275,
+        -0.001157090130047696,
+        0.009320767865171784
+      ],
+      "collision": {},
+      "density": 2300.0,
+      "id": "part_00",
+      "inertia": [
+        0.007213730254885588,
+        0.016884825021616832,
+        0.023962733281518715
+      ],
+      "mass": 1.37,
+      "material": "ceramic",
+      "name": "D00881 Tray Board",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00881 Tray Board",
+        "part_name": "D00881 Tray Board"
+      },
+      "volume": 0.0009687723291524452
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.37
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00882 Tray Bowl/IsaacSim_assets_69f6b9137f5104dbf2c008e5/physics_69f6b9137f5104dbf2c008e5.json b/batch10/D00882 Tray Bowl/IsaacSim_assets_69f6b9137f5104dbf2c008e5/physics_69f6b9137f5104dbf2c008e5.json
new file mode 100644
index 0000000000000000000000000000000000000000..0db314d7ca38f8110f3b9573558a9ac85398af9d
--- /dev/null
+++ b/batch10/D00882 Tray Bowl/IsaacSim_assets_69f6b9137f5104dbf2c008e5/physics_69f6b9137f5104dbf2c008e5.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.10990721732378006,
+        0.059218019247055054,
+        0.11018839478492737
+      ],
+      "min": [
+        -0.11001340299844742,
+        0.0,
+        -0.10959362983703613
+      ],
+      "size": [
+        0.21992062032222748,
+        0.059218019247055054,
+        0.2197820246219635
+      ]
+    },
+    "description": "An off-white glazed ceramic bowl with a rounded thick-walled body, shallow foot ring, and smooth rolled rim.",
+    "name": "D00882 Tray Bowl",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.52
+  },
+  "asset_id": "D00882",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00010987769895281473,
+          0.023483341466069778,
+          0.00020778050916091126
+        ],
+        "max": [
+          0.10990721732378006,
+          0.059218019247055054,
+          0.11018839478492737
+        ],
+        "min": [
+          -0.11001340299844742,
+          0.0,
+          -0.10959362983703613
+        ]
+      },
+      "center_of_mass": [
+        0.0002121719634634847,
+        -0.021082113676455714,
+        -4.242216636107389e-05
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.002047055357382653,
+        0.0020598829278271834,
+        0.003848855142435233
+      ],
+      "mass": 0.52,
+      "material": "baked_bread",
+      "name": "D00882 Tray Bowl",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00882 Tray Bowl",
+        "part_name": "D00882 Tray Bowl"
+      },
+      "volume": 0.0005121787883011379
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.52
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00888 Tweezers/IsaacSim_assets_69f6bf047f5104dbf2c5e72f/physics_69f6bf047f5104dbf2c5e72f.json b/batch10/D00888 Tweezers/IsaacSim_assets_69f6bf047f5104dbf2c5e72f/physics_69f6bf047f5104dbf2c5e72f.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1c3c0afdecf27ad9c80ec63bfd5ae1dc6acd514
--- /dev/null
+++ b/batch10/D00888 Tweezers/IsaacSim_assets_69f6bf047f5104dbf2c5e72f/physics_69f6bf047f5104dbf2c5e72f.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.07319226861000061,
+        0.013054179027676582,
+        0.01348084770143032
+      ],
+      "min": [
+        -0.06522972881793976,
+        3.1786137242306722e-06,
+        -0.013562152162194252
+      ],
+      "size": [
+        0.13842199742794037,
+        0.013051000413952352,
+        0.027042999863624573
+      ]
+    },
+    "description": "A pair of stainless steel tweezers with textured, ridged finger grips. The object features a long, tapered body that ends in fine, serrated tips.",
+    "name": "D00888 Tweezers",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.043
+  },
+  "asset_id": "D00888",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.002196515851374862,
+          0.0065030632668759605,
+          -1.6372251700555125e-05
+        ],
+        "max": [
+          0.07319226861000061,
+          0.013054179027676582,
+          0.01348084770143032
+        ],
+        "min": [
+          -0.06522972881793976,
+          3.1786137242306722e-06,
+          -0.013562152162194252
+        ]
+      },
+      "center_of_mass": [
+        8.671722088769628e-05,
+        -0.002358062775245183,
+        0.007177748917643329
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_00",
+      "inertia": [
+        1.7308968203449e-06,
+        4.8395869030198145e-05,
+        4.922543565495611e-05
+      ],
+      "mass": 0.043,
+      "material": "stainless_steel",
+      "name": "D00888 Tweezers",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00888 Tweezers",
+        "part_name": "D00888 Tweezers"
+      },
+      "volume": 2.4184974112676926e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.043
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00936 White Cup/IsaacSim_assets_6a577283c736368e416c8f95/physics_6a577283c736368e416c8f95.json b/batch10/D00936 White Cup/IsaacSim_assets_6a577283c736368e416c8f95/physics_6a577283c736368e416c8f95.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f243617e193f96f7ddb81ead19447ec04d4f77a
--- /dev/null
+++ b/batch10/D00936 White Cup/IsaacSim_assets_6a577283c736368e416c8f95/physics_6a577283c736368e416c8f95.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.0587466,
+        0.07807125,
+        0.0341623
+      ],
+      "min": [
+        -0.03934659,
+        0.0,
+        -0.03454554
+      ],
+      "size": [
+        0.09809319,
+        0.07807125,
+        0.06870783999999999
+      ]
+    },
+    "description": "A white ceramic mug with a cylindrical body and a curved handle on the side.",
+    "name": "generated reference 01",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.3
+  },
+  "asset_id": "D00936",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0022224771233852482,
+          0.03503479926212769,
+          -8.648360785415707e-05
+        ],
+        "max": [
+          0.0587466,
+          0.07807125,
+          0.0341623
+        ],
+        "min": [
+          -0.03934659,
+          0.0,
+          -0.03454554
+        ]
+      },
+      "center_of_mass": [
+        -0.001955559365299879,
+        0.00011045364715739647,
+        0.033393543416088384
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.0003002678256462403,
+        0.0003128823578173987,
+        0.00035011409017285237
+      ],
+      "mass": 0.3,
+      "material": "ceramic",
+      "name": "generated reference 01",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "generated reference 01",
+        "part_name": "generated reference 01"
+      },
+      "volume": 7.829449802168724e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.3
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00937 White Grey Bowl/IsaacSim_assets_69f714a27f5104dbf21ac51b/physics_69f714a27f5104dbf21ac51b.json b/batch10/D00937 White Grey Bowl/IsaacSim_assets_69f714a27f5104dbf21ac51b/physics_69f714a27f5104dbf21ac51b.json
new file mode 100644
index 0000000000000000000000000000000000000000..28c32cacf9848ea4028ff251be648fb02e9b6aeb
--- /dev/null
+++ b/batch10/D00937 White Grey Bowl/IsaacSim_assets_69f714a27f5104dbf21ac51b/physics_69f714a27f5104dbf21ac51b.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.07573079317808151,
+        0.07301368564367294,
+        0.07554581016302109
+      ],
+      "min": [
+        -0.07565032690763474,
+        0.0,
+        -0.07581111788749695
+      ],
+      "size": [
+        0.15138112008571625,
+        0.07301368564367294,
+        0.15135692805051804
+      ]
+    },
+    "description": "A white glazed ceramic bowl with a rounded body, small foot ring, and subtle gray speckling around the rim.",
+    "name": "D00937 White Grey Bowl",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.38
+  },
+  "asset_id": "D00937",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          2.597131077014378e-05,
+          0.03672222779976956,
+          -0.00013933769314995102
+        ],
+        "max": [
+          0.07573079317808151,
+          0.07301368564367294,
+          0.07554581016302109
+        ],
+        "min": [
+          -0.07565032690763474,
+          0.0,
+          -0.07581111788749695
+        ]
+      },
+      "center_of_mass": [
+        -0.0001890027228450086,
+        -0.03363679449359209,
+        5.9613312130664705e-05
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.0007923803869816646,
+        0.0007964581042608962,
+        0.0012787096959398087
+      ],
+      "mass": 0.38,
+      "material": "glass",
+      "name": "D00937 White Grey Bowl",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00937 White Grey Bowl",
+        "part_name": "D00937 White Grey Bowl"
+      },
+      "volume": 0.00022458067838906226
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.38
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00948 Wok Pot/IsaacSim_assets_69f7302a7f5104dbf237438c/physics_69f7302a7f5104dbf237438c.json b/batch10/D00948 Wok Pot/IsaacSim_assets_69f7302a7f5104dbf237438c/physics_69f7302a7f5104dbf237438c.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d4dabd81c9381ddcfa65825aea643eed532c282
--- /dev/null
+++ b/batch10/D00948 Wok Pot/IsaacSim_assets_69f7302a7f5104dbf237438c/physics_69f7302a7f5104dbf237438c.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.28239700198173523,
+        0.12370077520608902,
+        0.1501539945602417
+      ],
+      "min": [
+        -0.20628198981285095,
+        -6.422531441785395e-05,
+        -0.15119101107120514
+      ],
+      "size": [
+        0.4886789917945862,
+        0.12376500052050687,
+        0.30134500563144684
+      ]
+    },
+    "description": "A silver stainless steel wok with a long main handle and a smaller loop helper handle.",
+    "name": "D00948 Wok Pot",
+    "object_type": "rigid_bodies",
+    "total_mass": 3.0
+  },
+  "asset_id": "D00948",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0026167794204473888,
+          0.040627912512465586,
+          -0.0005805068067401529
+        ],
+        "max": [
+          0.28239700198173523,
+          0.12370077520608902,
+          0.1501539945602417
+        ],
+        "min": [
+          -0.20628198981285095,
+          -6.422531441785395e-05,
+          -0.15119101107120514
+        ]
+      },
+      "center_of_mass": [
+        8.412419182517227e-05,
+        0.018699072824237016,
+        0.05489463040204248
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_00",
+      "inertia": [
+        0.010581478025864635,
+        0.026096604011402073,
+        0.03358099687823669
+      ],
+      "mass": 3.0,
+      "material": "stainless_steel",
+      "name": "D00948 Wok Pot",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00948 Wok Pot",
+        "part_name": "D00948 Wok Pot"
+      },
+      "volume": 0.004576226401723576
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 3.0
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00954 Wooden Container/IsaacSim_assets_69f73a6b7f5104dbf2420000/physics_69f73a6b7f5104dbf2420000.json b/batch10/D00954 Wooden Container/IsaacSim_assets_69f73a6b7f5104dbf2420000/physics_69f73a6b7f5104dbf2420000.json
new file mode 100644
index 0000000000000000000000000000000000000000..7711cde6e9c9f6d453611444a4c3122e17483ff3
--- /dev/null
+++ b/batch10/D00954 Wooden Container/IsaacSim_assets_69f73a6b7f5104dbf2420000/physics_69f73a6b7f5104dbf2420000.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.1863337755203247,
+        0.13360893726348877,
+        0.12158378213644028
+      ],
+      "min": [
+        -0.18642622232437134,
+        2.0929963284288533e-05,
+        -0.12347821891307831
+      ],
+      "size": [
+        0.37275999784469604,
+        0.13358800730020448,
+        0.24506200104951859
+      ]
+    },
+    "description": "A rectangular wooden container with an open top and a smooth, finished wood grain surface.",
+    "name": "D00954 Wooden Container",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.71
+  },
+  "asset_id": "D00954",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -2.652514534939537e-05,
+          0.054482697890837636,
+          -0.00093666415743508
+        ],
+        "max": [
+          0.1863337755203247,
+          0.13360893726348877,
+          0.12158378213644028
+        ],
+        "min": [
+          -0.18642622232437134,
+          2.0929963284288533e-05,
+          -0.12347821891307831
+        ]
+      },
+      "center_of_mass": [
+        0.00027461773049128037,
+        0.0003868856659361398,
+        0.04924760872096675
+      ],
+      "collision": {},
+      "density": 650.0,
+      "id": "part_00",
+      "inertia": [
+        0.006509010824080217,
+        0.011908217616670862,
+        0.01605575378602178
+      ],
+      "mass": 0.71,
+      "material": "wood",
+      "name": "D00954 Wooden Container",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00954 Wooden Container",
+        "part_name": "D00954 Wooden Container"
+      },
+      "volume": 0.00487747622409177
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.71
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00956 Wooden Cup/IsaacSim_assets_6a4b7498a91d78f0f3f4314c/physics_6a4b7498a91d78f0f3f4314c.json b/batch10/D00956 Wooden Cup/IsaacSim_assets_6a4b7498a91d78f0f3f4314c/physics_6a4b7498a91d78f0f3f4314c.json
new file mode 100644
index 0000000000000000000000000000000000000000..99dbd74620980357dbb444ea804d7b4ec0614099
--- /dev/null
+++ b/batch10/D00956 Wooden Cup/IsaacSim_assets_6a4b7498a91d78f0f3f4314c/physics_6a4b7498a91d78f0f3f4314c.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.04902005195617676,
+        0.11507266014814377,
+        0.0486648753285408
+      ],
+      "min": [
+        -0.049052946269512177,
+        -7.340329375438159e-06,
+        -0.04901512339711189
+      ],
+      "size": [
+        0.09807299822568893,
+        0.1150800004775192,
+        0.0976799987256527
+      ]
+    },
+    "description": "A cylindrical wooden cup with a smooth, light-colored wood grain finish and a hollow interior.",
+    "name": "generated reference 01",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.03
+  },
+  "asset_id": "D00956",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -1.2642190114895e-05,
+          0.05349069968608443,
+          -0.000182835081492583
+        ],
+        "max": [
+          0.04902005195617676,
+          0.11507266014814377,
+          0.0486648753285408
+        ],
+        "min": [
+          -0.049052946269512177,
+          -7.340329375438159e-06,
+          -0.04901512339711189
+        ]
+      },
+      "center_of_mass": [
+        3.610276372685668e-05,
+        -2.0187908046244935e-05,
+        0.04099847481862693
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        3.3145055093986057e-05,
+        4.2372284783988966e-05,
+        4.249035852543135e-05
+      ],
+      "mass": 0.03,
+      "material": "wood",
+      "name": "generated reference 01",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "generated reference 01",
+        "part_name": "generated reference 01"
+      },
+      "volume": 0.00012983127905564227
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.03
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00961 Wooden Ladle/IsaacSim_assets_69f75e4a7f5104dbf2688948/physics_69f75e4a7f5104dbf2688948.json b/batch10/D00961 Wooden Ladle/IsaacSim_assets_69f75e4a7f5104dbf2688948/physics_69f75e4a7f5104dbf2688948.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d078e1b406a284844a506df08c09f1381f74f95
--- /dev/null
+++ b/batch10/D00961 Wooden Ladle/IsaacSim_assets_69f75e4a7f5104dbf2688948/physics_69f75e4a7f5104dbf2688948.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.042913880199193954,
+        0.044606950134038925,
+        0.10678674280643463
+      ],
+      "min": [
+        -0.04342611879110336,
+        -8.90496012289077e-05,
+        -0.20926426351070404
+      ],
+      "size": [
+        0.08633999899029732,
+        0.04469599973526783,
+        0.31605100631713867
+      ]
+    },
+    "description": "A solid wooden kitchen ladle with a long curved handle and a deep rounded bowl. The handle features a small hanging hole near its top end.",
+    "name": "D00961 Wooden Ladle",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.05897
+  },
+  "asset_id": "D00961",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          2.4204870813519056e-05,
+          0.024628186944791658,
+          -0.005251263990383366
+        ],
+        "max": [
+          0.042913880199193954,
+          0.044606950134038925,
+          0.10678674280643463
+        ],
+        "min": [
+          -0.04342611879110336,
+          -8.90496012289077e-05,
+          -0.20926426351070404
+        ]
+      },
+      "center_of_mass": [
+        -0.00034474394761548283,
+        0.029001822307183733,
+        0.02893359898822976
+      ],
+      "collision": {},
+      "density": 650.0,
+      "id": "part_00",
+      "inertia": [
+        1.7467443289954136e-05,
+        0.0006013179914927136,
+        0.0006107047294397165
+      ],
+      "mass": 0.05897,
+      "material": "wood",
+      "name": "D00961 Wooden Ladle",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00961 Wooden Ladle",
+        "part_name": "D00961 Wooden Ladle"
+      },
+      "volume": 0.00011942345458906326
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.05897
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00971 Wooden Spatula/IsaacSim_assets_69f77ef47f5104dbf28c852b/physics_69f77ef47f5104dbf28c852b.json b/batch10/D00971 Wooden Spatula/IsaacSim_assets_69f77ef47f5104dbf28c852b/physics_69f77ef47f5104dbf28c852b.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a8399333587d3b1cdea2bffa87a724e37bf9405
--- /dev/null
+++ b/batch10/D00971 Wooden Spatula/IsaacSim_assets_69f77ef47f5104dbf28c852b/physics_69f77ef47f5104dbf28c852b.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.15781807899475098,
+        0.024860799312591553,
+        0.04717493802309036
+      ],
+      "min": [
+        -0.22052091360092163,
+        3.3799835364334285e-05,
+        -0.04730606451630592
+      ],
+      "size": [
+        0.3783389925956726,
+        0.02482699947722722,
+        0.09448100253939629
+      ]
+    },
+    "description": "A carved dark wooden spatula with a smooth, elongated handle tapering into a wide, flat, subtly asymmetrical head.",
+    "name": "D00971 Wooden Spatula",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.05
+  },
+  "asset_id": "D00971",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.005543211004732319,
+          0.012532605163281332,
+          -4.732920380151132e-05
+        ],
+        "max": [
+          0.15781807899475098,
+          0.024860799312591553,
+          0.04717493802309036
+        ],
+        "min": [
+          -0.22052091360092163,
+          3.3799835364334285e-05,
+          -0.04730606451630592
+        ]
+      },
+      "center_of_mass": [
+        -0.006189755638878589,
+        4.4456262746220495e-05,
+        0.009979950943135519
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        1.3964908366270114e-05,
+        0.00039211159698340477,
+        0.0004043097024189361
+      ],
+      "mass": 0.05,
+      "material": "wood",
+      "name": "D00971 Wooden Spatula",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00971 Wooden Spatula",
+        "part_name": "D00971 Wooden Spatula"
+      },
+      "volume": 0.0001428516389847627
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.05
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00974 Wooden Spatula Spoon/IsaacSim_assets_69f790a87f5104dbf2a09791/physics_69f790a87f5104dbf2a09791.json b/batch10/D00974 Wooden Spatula Spoon/IsaacSim_assets_69f790a87f5104dbf2a09791/physics_69f790a87f5104dbf2a09791.json
new file mode 100644
index 0000000000000000000000000000000000000000..17a3ade728b551c4f5abccee6414475fc83caf3e
--- /dev/null
+++ b/batch10/D00974 Wooden Spatula Spoon/IsaacSim_assets_69f790a87f5104dbf2a09791/physics_69f790a87f5104dbf2a09791.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.12670893967151642,
+        0.02583678439259529,
+        0.04057785123586655
+      ],
+      "min": [
+        -0.18972906470298767,
+        -4.521558730630204e-05,
+        -0.04030514881014824
+      ],
+      "size": [
+        0.3164380043745041,
+        0.025881999979901593,
+        0.08088300004601479
+      ]
+    },
+    "description": "A light brown wooden kitchen spoon with a long, smooth handle and a shallow oval scoop.",
+    "name": "D00974 Wooden Spatula Spoon",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.083
+  },
+  "asset_id": "D00974",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00448645990461138,
+          0.01279658341532485,
+          0.00032719575405187266
+        ],
+        "max": [
+          0.12670893967151642,
+          0.02583678439259529,
+          0.04057785123586655
+        ],
+        "min": [
+          -0.18972906470298767,
+          -4.521558730630204e-05,
+          -0.04030514881014824
+        ]
+      },
+      "center_of_mass": [
+        -0.03296854257956116,
+        -7.321234081431468e-05,
+        0.014391204520092262
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        2.143351830482514e-05,
+        0.0008366783469242707,
+        0.0008514364291764205
+      ],
+      "mass": 0.083,
+      "material": "wood",
+      "name": "D00974 Wooden Spatula Spoon",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00974 Wooden Spatula Spoon",
+        "part_name": "D00974 Wooden Spatula Spoon"
+      },
+      "volume": 0.00021912359818629433
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.083
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00981 Wooden Spoon Spatula/IsaacSim_assets_6a578fc0c736368e416f35b2/physics_6a578fc0c736368e416f35b2.json b/batch10/D00981 Wooden Spoon Spatula/IsaacSim_assets_6a578fc0c736368e416f35b2/physics_6a578fc0c736368e416f35b2.json
new file mode 100644
index 0000000000000000000000000000000000000000..30b56b27365af636f2497afe8c593dc8245f7ebd
--- /dev/null
+++ b/batch10/D00981 Wooden Spoon Spatula/IsaacSim_assets_6a578fc0c736368e416f35b2/physics_6a578fc0c736368e416f35b2.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.21245083,
+        0.03932314,
+        0.04789559
+      ],
+      "min": [
+        -0.13850027,
+        0.0,
+        -0.04838343
+      ],
+      "size": [
+        0.3509511,
+        0.03932314,
+        0.09627901999999999
+      ]
+    },
+    "description": "A wooden spoon spatula with a smooth, light-colored finish, featuring a gently curved bowl merging into a contoured handle.",
+    "name": "generated reference 01",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.102
+  },
+  "asset_id": "D00981",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0019502650049401824,
+          0.01863764992250654,
+          -5.449509503652914e-05
+        ],
+        "max": [
+          0.21245083,
+          0.03932314,
+          0.04789559
+        ],
+        "min": [
+          -0.13850027,
+          0.0,
+          -0.04838343
+        ]
+      },
+      "center_of_mass": [
+        0.03465940856525646,
+        -4.7089843430898334e-05,
+        0.02039743971119509
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        4.765921951522784e-05,
+        0.0010937038335691208,
+        0.0011303245078071117
+      ],
+      "mass": 0.102,
+      "material": "wood",
+      "name": "generated reference 01",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "generated reference 01",
+        "part_name": "generated reference 01"
+      },
+      "volume": 0.0002481596534125439
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.102
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00989 Wooden Vase/IsaacSim_assets_69f7996ed09344200ff34ee6/physics_69f7996ed09344200ff34ee6.json b/batch10/D00989 Wooden Vase/IsaacSim_assets_69f7996ed09344200ff34ee6/physics_69f7996ed09344200ff34ee6.json
new file mode 100644
index 0000000000000000000000000000000000000000..f20e48c6f15ee65dd76c11da90dddc6dc867bb82
--- /dev/null
+++ b/batch10/D00989 Wooden Vase/IsaacSim_assets_69f7996ed09344200ff34ee6/physics_69f7996ed09344200ff34ee6.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.08377080410718918,
+        0.30361688137054443,
+        0.08462506532669067
+      ],
+      "min": [
+        -0.08379019051790237,
+        -2.812130333040841e-05,
+        -0.08474193513393402
+      ],
+      "size": [
+        0.16756099462509155,
+        0.30364500267387484,
+        0.1693670004606247
+      ]
+    },
+    "description": "A decorative wooden vase with a polished, natural wood grain finish. It features a bulbous lower body that tapers into a narrow neck and ends with a flared circular rim.",
+    "name": "D00989 Wooden Vase",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.389
+  },
+  "asset_id": "D00989",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00010345962847219723,
+          0.1635789491833054,
+          0.00013164071071440338
+        ],
+        "max": [
+          0.08377080410718918,
+          0.30361688137054443,
+          0.08462506532669067
+        ],
+        "min": [
+          -0.08379019051790237,
+          -2.812130333040841e-05,
+          -0.08474193513393402
+        ]
+      },
+      "center_of_mass": [
+        -0.0001805201022064034,
+        0.00022474696127668489,
+        0.12903884854976316
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        0.001248863060078383,
+        0.0033645842036689536,
+        0.0033822404951059848
+      ],
+      "mass": 0.389,
+      "material": "wood",
+      "name": "D00989 Wooden Vase",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00989 Wooden Vase",
+        "part_name": "D00989 Wooden Vase"
+      },
+      "volume": 0.001540519915860336
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.389
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00991 Woodenspoon/IsaacSim_assets_6a4ba535a91d78f0f3fbca05/physics_6a4ba535a91d78f0f3fbca05.json b/batch10/D00991 Woodenspoon/IsaacSim_assets_6a4ba535a91d78f0f3fbca05/physics_6a4ba535a91d78f0f3fbca05.json
new file mode 100644
index 0000000000000000000000000000000000000000..114fce8823aecc104c7407eddeed112ad8904e4a
--- /dev/null
+++ b/batch10/D00991 Woodenspoon/IsaacSim_assets_6a4ba535a91d78f0f3fbca05/physics_6a4ba535a91d78f0f3fbca05.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.18452031910419464,
+        0.026659958064556122,
+        0.034686096012592316
+      ],
+      "min": [
+        -0.1051286831498146,
+        -4.20423639297951e-05,
+        -0.03162790462374687
+      ],
+      "size": [
+        0.28964900225400925,
+        0.026702000428485917,
+        0.06631400063633919
+      ]
+    },
+    "description": "A light-colored wooden spoon with a long, rounded handle and a shallow oval bowl. The surface features a smooth, natural wood finish with visible grain.",
+    "name": "generated reference 01",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.0354
+  },
+  "asset_id": "D00991",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.004975966113097826,
+          0.014434994132629282,
+          -0.00016537236033802635
+        ],
+        "max": [
+          0.18452031910419464,
+          0.026659958064556122,
+          0.034686096012592316
+        ],
+        "min": [
+          -0.1051286831498146,
+          -4.20423639297951e-05,
+          -0.03162790462374687
+        ]
+      },
+      "center_of_mass": [
+        0.02880521581738795,
+        -4.30410594625801e-05,
+        0.011085960784017785
+      ],
+      "collision": {},
+      "density": 650.0,
+      "id": "part_00",
+      "inertia": [
+        5.0121375163202335e-06,
+        0.00026591397296807617,
+        0.0002693930541076888
+      ],
+      "mass": 0.0354,
+      "material": "wood",
+      "name": "generated reference 01",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "generated reference 01",
+        "part_name": "generated reference 01"
+      },
+      "volume": 6.716350977974727e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.0354
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch10/D00995 Zucchini/IsaacSim_assets_6a56281673216702109627e9/physics_6a56281673216702109627e9.json b/batch10/D00995 Zucchini/IsaacSim_assets_6a56281673216702109627e9/physics_6a56281673216702109627e9.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ddda082b1f0611ba8e7b43ef21c88ad45a4f3cf
--- /dev/null
+++ b/batch10/D00995 Zucchini/IsaacSim_assets_6a56281673216702109627e9/physics_6a56281673216702109627e9.json	
@@ -0,0 +1,106 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.08949248,
+        0.05165033,
+        0.02710352
+      ],
+      "min": [
+        -0.08925172,
+        0.0,
+        -0.02696164
+      ],
+      "size": [
+        0.17874420000000002,
+        0.05165033,
+        0.05406516
+      ]
+    },
+    "description": "A dark green zucchini squash with a lightly speckled skin and a light green, slightly textured stem end.",
+    "name": "generated reference 01",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.3
+  },
+  "asset_id": "D00995",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0034093580218266216,
+          0.025087605104456345,
+          0.00010298612571328434
+        ],
+        "max": [
+          0.08949248,
+          0.05165033,
+          0.02710352
+        ],
+        "min": [
+          -0.08925172,
+          0.0,
+          -0.02696164
+        ]
+      },
+      "center_of_mass": [
+        0.005383700915058635,
+        -0.0002241683928909472,
+        0.025108621002331043
+      ],
+      "collision": {},
+      "density": 950.0,
+      "id": "part_00",
+      "inertia": [
+        8.494785459192316e-05,
+        0.0006094120101279594,
+        0.0006122270608591438
+      ],
+      "mass": 0.3,
+      "material": "organic_matter",
+      "name": "generated reference 01",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "generated reference 01",
+        "part_name": "generated reference 01"
+      },
+      "volume": 0.00028163065491051997
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg"
+  },
+  "validation": {
+    "overall": "partial",
+    "scale": {
+      "status": "not_checked",
+      "confidence": "low",
+      "units": "m",
+      "up_axis": null
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.3
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00263 Decorative Plate/IsaacSim_assets_6a6c632bcb2d3efc65bd0fdf/physics_6a6c632bcb2d3efc65bd0fdf.json b/batch17/D00263 Decorative Plate/IsaacSim_assets_6a6c632bcb2d3efc65bd0fdf/physics_6a6c632bcb2d3efc65bd0fdf.json
new file mode 100644
index 0000000000000000000000000000000000000000..d57f9bf7aedf9723ebee66f2ce0fb4611868d8e5
--- /dev/null
+++ b/batch17/D00263 Decorative Plate/IsaacSim_assets_6a6c632bcb2d3efc65bd0fdf/physics_6a6c632bcb2d3efc65bd0fdf.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.12464000284671783,
+        0.1247510015964508,
+        0.03653800114989281
+      ],
+      "min": [
+        -0.12442799657583237,
+        -0.12435399740934372,
+        -4.999999873689376e-05
+      ],
+      "size": [
+        0.2490679994225502,
+        0.24910499900579453,
+        0.0365880011486297
+      ]
+    },
+    "description": "D00263 Decorative Plate",
+    "name": "D00263 Decorative Plate",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.545
+  },
+  "asset_id": "D00263",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00010600313544273376,
+          0.0001985020935535431,
+          0.018244000575577957
+        ],
+        "max": [
+          0.12464000284671783,
+          0.1247510015964508,
+          0.03653800114989281
+        ],
+        "min": [
+          -0.12442799657583237,
+          -0.12435399740934372,
+          -4.999999873689376e-05
+        ]
+      },
+      "center_of_mass": [
+        5.803125168313272e-05,
+        0.0001632397761568427,
+        0.013075077906250954
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.002241214271634817,
+        0.0022450231481343508,
+        0.004402697551995516
+      ],
+      "mass": 0.545,
+      "material": "ceramic",
+      "name": "D00263 Decorative Plate",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00263 Decorative Plate",
+        "part_name": "D00263 Decorative Plate"
+      },
+      "volume": 0.00022708334028720856
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.2490679994225502,
+        0.24910499900579453,
+        0.0365880011486297
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.545
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00268 Dish/IsaacSim_assets_6a6c64aecb2d3efc65bd869c/physics_6a6c64aecb2d3efc65bd869c.json b/batch17/D00268 Dish/IsaacSim_assets_6a6c64aecb2d3efc65bd869c/physics_6a6c64aecb2d3efc65bd869c.json
new file mode 100644
index 0000000000000000000000000000000000000000..4873bad5812b6eb4428fab18f7a58adc53cd9ba9
--- /dev/null
+++ b/batch17/D00268 Dish/IsaacSim_assets_6a6c64aecb2d3efc65bd869c/physics_6a6c64aecb2d3efc65bd869c.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.12325400114059448,
+        0.12333299964666367,
+        0.052799999713897705
+      ],
+      "min": [
+        -0.12312900274991989,
+        -0.122980996966362,
+        -5.6000000768108293e-05
+      ],
+      "size": [
+        0.24638300389051437,
+        0.24631399661302567,
+        0.05285599971466581
+      ]
+    },
+    "description": "D00268 Dish",
+    "name": "D00268 Dish",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.606
+  },
+  "asset_id": "D00268",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          6.249919533729553e-05,
+          0.00017600134015083313,
+          0.0263719998565648
+        ],
+        "max": [
+          0.12325400114059448,
+          0.12333299964666367,
+          0.052799999713897705
+        ],
+        "min": [
+          -0.12312900274991989,
+          -0.122980996966362,
+          -5.6000000768108293e-05
+        ]
+      },
+      "center_of_mass": [
+        0.00016972019511740655,
+        0.0004194479843135923,
+        0.01914377696812153
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.0023950678296387196,
+        0.002398590324446559,
+        0.0046002985909581184
+      ],
+      "mass": 0.606,
+      "material": "ceramic",
+      "name": "D00268 Dish",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00268 Dish",
+        "part_name": "D00268 Dish"
+      },
+      "volume": 0.00025250000258286796
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.24638300389051437,
+        0.24631399661302567,
+        0.05285599971466581
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.606
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00273 Dish Plate/IsaacSim_assets_6a6c650fcb2d3efc65bdaf82/physics_6a6c650fcb2d3efc65bdaf82.json b/batch17/D00273 Dish Plate/IsaacSim_assets_6a6c650fcb2d3efc65bdaf82/physics_6a6c650fcb2d3efc65bdaf82.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e52ec234a0ea24f60490bc7733d0dca374886de
--- /dev/null
+++ b/batch17/D00273 Dish Plate/IsaacSim_assets_6a6c650fcb2d3efc65bdaf82/physics_6a6c650fcb2d3efc65bdaf82.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.12282200157642365,
+        0.1228799968957901,
+        0.04646499827504158
+      ],
+      "min": [
+        -0.12258800119161606,
+        -0.12219099700450897,
+        -0.00011700000322889537
+      ],
+      "size": [
+        0.2454100027680397,
+        0.24507099390029907,
+        0.046581998278270476
+      ]
+    },
+    "description": "D00273 Dish Plate",
+    "name": "D00273 Dish Plate",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.542
+  },
+  "asset_id": "D00273",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00011700019240379333,
+          0.00034449994564056396,
+          0.023173999135906342
+        ],
+        "max": [
+          0.12282200157642365,
+          0.1228799968957901,
+          0.04646499827504158
+        ],
+        "min": [
+          -0.12258800119161606,
+          -0.12219099700450897,
+          -0.00011700000322889537
+        ]
+      },
+      "center_of_mass": [
+        5.496172889252193e-05,
+        -0.00012776161020155996,
+        0.023110151290893555
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.002135261194780469,
+        0.0021429855842143297,
+        0.004033568315207958
+      ],
+      "mass": 0.542,
+      "material": "ceramic",
+      "name": "D00273 Dish Plate",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00273 Dish Plate",
+        "part_name": "D00273 Dish Plate"
+      },
+      "volume": 0.00022583333154519399
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.2454100027680397,
+        0.24507099390029907,
+        0.046581998278270476
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.542
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00280 Dough/IsaacSim_assets_6a6c6a6bcb2d3efc65bf48f6/physics_6a6c6a6bcb2d3efc65bf48f6.json b/batch17/D00280 Dough/IsaacSim_assets_6a6c6a6bcb2d3efc65bf48f6/physics_6a6c6a6bcb2d3efc65bf48f6.json
new file mode 100644
index 0000000000000000000000000000000000000000..c796f2f346d8da67ef904c84f34d81e4f0b2fdc9
--- /dev/null
+++ b/batch17/D00280 Dough/IsaacSim_assets_6a6c6a6bcb2d3efc65bf48f6/physics_6a6c6a6bcb2d3efc65bf48f6.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.06466999650001526,
+        0.06855899840593338,
+        0.06533800065517426
+      ],
+      "min": [
+        -0.060488998889923096,
+        -0.05659399926662445,
+        3.999999989900971e-06
+      ],
+      "size": [
+        0.12515899538993835,
+        0.12515299767255783,
+        0.06533400065518435
+      ]
+    },
+    "description": "D00280 Dough",
+    "name": "D00280 Dough",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.4
+  },
+  "asset_id": "D00280",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0020904988050460815,
+          0.005982499569654465,
+          0.03267100032758208
+        ],
+        "max": [
+          0.06466999650001526,
+          0.06855899840593338,
+          0.06533800065517426
+        ],
+        "min": [
+          -0.060488998889923096,
+          -0.05659399926662445,
+          3.999999989900971e-06
+        ]
+      },
+      "center_of_mass": [
+        0.002159256488084793,
+        0.005744397174566984,
+        0.02598395012319088
+      ],
+      "collision": {},
+      "density": 1150.0,
+      "id": "part_00",
+      "inertia": [
+        0.0014579000417143106,
+        0.0015085648046806455,
+        0.0023023837711662054
+      ],
+      "mass": 1.4,
+      "material": "plastic",
+      "name": "D00280 Dough",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00280 Dough",
+        "part_name": "D00280 Dough"
+      },
+      "volume": 0.0012173912836157758
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.12515899538993835,
+        0.12515299767255783,
+        0.06533400065518435
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.4
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00324 Fruit Bowl/IsaacSim_assets_6a6c7208cb2d3efc65c1cc94/physics_6a6c7208cb2d3efc65c1cc94.json b/batch17/D00324 Fruit Bowl/IsaacSim_assets_6a6c7208cb2d3efc65c1cc94/physics_6a6c7208cb2d3efc65c1cc94.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d72cb099ce814c8de59d8401bef14b26b156052
--- /dev/null
+++ b/batch17/D00324 Fruit Bowl/IsaacSim_assets_6a6c7208cb2d3efc65c1cc94/physics_6a6c7208cb2d3efc65c1cc94.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.14133700728416443,
+        0.14148500561714172,
+        0.10794299840927124
+      ],
+      "min": [
+        -0.1415649950504303,
+        -0.14153100550174713,
+        -0.00018000000272877514
+      ],
+      "size": [
+        0.2829020023345947,
+        0.28301601111888885,
+        0.10812299841200002
+      ]
+    },
+    "description": "D00324 Fruit Bowl",
+    "name": "D00324 Fruit Bowl",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.05
+  },
+  "asset_id": "D00324",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00011399388313293457,
+          -2.2999942302703857e-05,
+          0.05388149920327123
+        ],
+        "max": [
+          0.14133700728416443,
+          0.14148500561714172,
+          0.10794299840927124
+        ],
+        "min": [
+          -0.1415649950504303,
+          -0.14153100550174713,
+          -0.00018000000272877514
+        ]
+      },
+      "center_of_mass": [
+        -9.231676813215017e-05,
+        -8.569449710194021e-05,
+        0.05583544448018074
+      ],
+      "collision": {},
+      "density": 2200.0,
+      "id": "part_00",
+      "inertia": [
+        0.006542210932821035,
+        0.006565753370523453,
+        0.010633382946252823
+      ],
+      "mass": 1.05,
+      "material": "ceramic",
+      "name": "D00324 Fruit Bowl",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00324 Fruit Bowl",
+        "part_name": "D00324 Fruit Bowl"
+      },
+      "volume": 0.000477272705598311
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.2829020023345947,
+        0.28301601111888885,
+        0.10812299841200002
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.05
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00476 Knife Board/IsaacSim_assets_6a6c35d8cb2d3efc65b5eeae/physics_6a6c35d8cb2d3efc65b5eeae.json b/batch17/D00476 Knife Board/IsaacSim_assets_6a6c35d8cb2d3efc65b5eeae/physics_6a6c35d8cb2d3efc65b5eeae.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f09a3c3e212eee06bcb9f154676ea71ba330978
--- /dev/null
+++ b/batch17/D00476 Knife Board/IsaacSim_assets_6a6c35d8cb2d3efc65b5eeae/physics_6a6c35d8cb2d3efc65b5eeae.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.19875499606132507,
+        0.15249000489711761,
+        0.03288166970014572
+      ],
+      "min": [
+        -0.19812099635601044,
+        -0.1507900059223175,
+        0.0014296695007942617
+      ],
+      "size": [
+        0.3968759924173355,
+        0.3032800108194351,
+        0.03145200019935146
+      ]
+    },
+    "description": "D00476 Knife Board",
+    "name": "D00476 Knife Board",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.7
+  },
+  "asset_id": "D00476",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0003169998526573181,
+          0.0008499994874000549,
+          0.01715566960046999
+        ],
+        "max": [
+          0.19875499606132507,
+          0.15249000489711761,
+          0.03288166970014572
+        ],
+        "min": [
+          -0.19812099635601044,
+          -0.1507900059223175,
+          0.0014296695007942617
+        ]
+      },
+      "center_of_mass": [
+        0.0002979649289045483,
+        0.0008632263052277267,
+        0.017080437391996384
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        0.012920452281832695,
+        0.02213147096335888,
+        0.03477787226438522
+      ],
+      "mass": 1.7,
+      "material": "wood",
+      "name": "D00476 Knife Board",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00476 Knife Board",
+        "part_name": "D00476 Knife Board"
+      },
+      "volume": 0.0024285714966910225
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.3968759924173355,
+        0.3032800108194351,
+        0.03145200019935146
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.7
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00477 Knife Holder/IsaacSim_assets_6a6c35b1cb2d3efc65b5e4eb/physics_6a6c35b1cb2d3efc65b5e4eb.json b/batch17/D00477 Knife Holder/IsaacSim_assets_6a6c35b1cb2d3efc65b5e4eb/physics_6a6c35b1cb2d3efc65b5e4eb.json
new file mode 100644
index 0000000000000000000000000000000000000000..949a79647f4a17be1fdafa7900228ff5df5b6c6f
--- /dev/null
+++ b/batch17/D00477 Knife Holder/IsaacSim_assets_6a6c35b1cb2d3efc65b5e4eb/physics_6a6c35b1cb2d3efc65b5e4eb.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.07732000201940536,
+        0.04089999943971634,
+        0.17720549646764994
+      ],
+      "min": [
+        -0.08659200370311737,
+        -0.040894001722335815,
+        0.0006505001269943023
+      ],
+      "size": [
+        0.16391200572252274,
+        0.08179400116205215,
+        0.17655499634065563
+      ]
+    },
+    "description": "D00477 Knife Holder",
+    "name": "D00477 Knife Holder",
+    "object_type": "rigid_bodies",
+    "total_mass": 2.5
+  },
+  "asset_id": "D00477",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.004636000841856003,
+          2.998858690261841e-06,
+          0.08892799829732212
+        ],
+        "max": [
+          0.07732000201940536,
+          0.04089999943971634,
+          0.17720549646764994
+        ],
+        "min": [
+          -0.08659200370311737,
+          -0.040894001722335815,
+          0.0006505001269943023
+        ]
+      },
+      "center_of_mass": [
+        0.004618181847035885,
+        9.219585626851767e-05,
+        0.07447299361228943
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        0.00395490787923336,
+        0.007381498347967863,
+        0.008610694669187069
+      ],
+      "mass": 2.5,
+      "material": "wood",
+      "name": "D00477 Knife Holder",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00477 Knife Holder",
+        "part_name": "D00477 Knife Holder"
+      },
+      "volume": 0.0035714285714285713
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.16391200572252274,
+        0.08179400116205215,
+        0.17655499634065563
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 2.5
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00481 Knife Utens/IsaacSim_assets_6a6c34facb2d3efc65b5b17d/physics_6a6c34facb2d3efc65b5b17d.json b/batch17/D00481 Knife Utens/IsaacSim_assets_6a6c34facb2d3efc65b5b17d/physics_6a6c34facb2d3efc65b5b17d.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4e06d917de3a55a65c2572b95e8dbe6a09b4f8f
--- /dev/null
+++ b/batch17/D00481 Knife Utens/IsaacSim_assets_6a6c34facb2d3efc65b5b17d/physics_6a6c34facb2d3efc65b5b17d.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.10370349884033203,
+        0.02208634838461876,
+        0.012692409567534924
+      ],
+      "min": [
+        -0.14417849481105804,
+        -0.012906651012599468,
+        0.0001374089770251885
+      ],
+      "size": [
+        0.24788199365139008,
+        0.03499299939721823,
+        0.012555000590509735
+      ]
+    },
+    "description": "D00481 Knife Utens",
+    "name": "D00481 Knife Utens",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.15
+  },
+  "asset_id": "D00481",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.020237497985363007,
+          0.0045898486860096455,
+          0.006414909272280056
+        ],
+        "max": [
+          0.10370349884033203,
+          0.02208634838461876,
+          0.012692409567534924
+        ],
+        "min": [
+          -0.14417849481105804,
+          -0.012906651012599468,
+          0.0001374089770251885
+        ]
+      },
+      "center_of_mass": [
+        -0.054194819182157516,
+        -0.0001535517949378118,
+        0.007454096805304289
+      ],
+      "collision": {},
+      "density": 6482.0,
+      "id": "part_00",
+      "inertia": [
+        1.0250413652101997e-05,
+        0.0004508697893470526,
+        0.0004588026786223054
+      ],
+      "mass": 0.15,
+      "material": "metal",
+      "name": "D00481 Knife Utens",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00481 Knife Utens",
+        "part_name": "D00481 Knife Utens"
+      },
+      "volume": 2.3141006781929108e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.24788199365139008,
+        0.03499299939721823,
+        0.012555000590509735
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.15
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00487 Lemon/IsaacSim_assets_6a6c348ccb2d3efc65b59505/physics_6a6c348ccb2d3efc65b59505.json b/batch17/D00487 Lemon/IsaacSim_assets_6a6c348ccb2d3efc65b59505/physics_6a6c348ccb2d3efc65b59505.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ed3db692f60a4faf201a475a76566e52db0877d
--- /dev/null
+++ b/batch17/D00487 Lemon/IsaacSim_assets_6a6c348ccb2d3efc65b59505/physics_6a6c348ccb2d3efc65b59505.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.030984999611973763,
+        0.02018200047314167,
+        0.03828899934887886
+      ],
+      "min": [
+        -0.026093000546097755,
+        -0.019982000812888145,
+        -1.700000029813964e-05
+      ],
+      "size": [
+        0.05707800015807152,
+        0.040164001286029816,
+        0.038305999349177
+      ]
+    },
+    "description": "D00487 Lemon",
+    "name": "D00487 Lemon",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.15
+  },
+  "asset_id": "D00487",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0024459995329380035,
+          9.999983012676239e-05,
+          0.01913599967429036
+        ],
+        "max": [
+          0.030984999611973763,
+          0.02018200047314167,
+          0.03828899934887886
+        ],
+        "min": [
+          -0.026093000546097755,
+          -0.019982000812888145,
+          -1.700000029813964e-05
+        ]
+      },
+      "center_of_mass": [
+        0.0001156617800006643,
+        4.53989086963702e-05,
+        0.019006140530109406
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        2.2800617443863302e-05,
+        3.112422564299777e-05,
+        3.195873796357773e-05
+      ],
+      "mass": 0.15,
+      "material": "plastic",
+      "name": "D00487 Lemon",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00487 Lemon",
+        "part_name": "D00487 Lemon"
+      },
+      "volume": 0.00015000000596046448
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.05707800015807152,
+        0.040164001286029816,
+        0.038305999349177
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.15
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00489 Lemon Half/IsaacSim_assets_6a6c3458cb2d3efc65b58474/physics_6a6c3458cb2d3efc65b58474.json b/batch17/D00489 Lemon Half/IsaacSim_assets_6a6c3458cb2d3efc65b58474/physics_6a6c3458cb2d3efc65b58474.json
new file mode 100644
index 0000000000000000000000000000000000000000..eedd1c4edef2f9218c87e12902ac6d512cff83d3
--- /dev/null
+++ b/batch17/D00489 Lemon Half/IsaacSim_assets_6a6c3458cb2d3efc65b58474/physics_6a6c3458cb2d3efc65b58474.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.018843999132514,
+        0.023124000057578087,
+        0.0397149994969368
+      ],
+      "min": [
+        -0.02249399945139885,
+        -0.02090900018811226,
+        -2.2000000171829015e-05
+      ],
+      "size": [
+        0.04133799858391285,
+        0.044033000245690346,
+        0.03973699949710863
+      ]
+    },
+    "description": "D00489 Lemon Half",
+    "name": "D00489 Lemon Half",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.071
+  },
+  "asset_id": "D00489",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0018250001594424248,
+          0.001107499934732914,
+          0.019846499748382485
+        ],
+        "max": [
+          0.018843999132514,
+          0.023124000057578087,
+          0.0397149994969368
+        ],
+        "min": [
+          -0.02249399945139885,
+          -0.02090900018811226,
+          -2.2000000171829015e-05
+        ]
+      },
+      "center_of_mass": [
+        0.0004973413306288421,
+        2.5615119739086367e-05,
+        0.017820317298173904
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        1.0196441508014686e-05,
+        1.0289624697179534e-05,
+        1.4191597983881366e-05
+      ],
+      "mass": 0.071,
+      "material": "plastic",
+      "name": "D00489 Lemon Half",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00489 Lemon Half",
+        "part_name": "D00489 Lemon Half"
+      },
+      "volume": 7.100000232458115e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.04133799858391285,
+        0.044033000245690346,
+        0.03973699949710863
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.071
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00512 Metal Cup/IsaacSim_assets_6a6c32b4cb2d3efc65b4fd63/physics_6a6c32b4cb2d3efc65b4fd63.json b/batch17/D00512 Metal Cup/IsaacSim_assets_6a6c32b4cb2d3efc65b4fd63/physics_6a6c32b4cb2d3efc65b4fd63.json
new file mode 100644
index 0000000000000000000000000000000000000000..b30f6aa9d062ab4555fe5b5126603370814b7e0d
--- /dev/null
+++ b/batch17/D00512 Metal Cup/IsaacSim_assets_6a6c32b4cb2d3efc65b4fd63/physics_6a6c32b4cb2d3efc65b4fd63.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03364900127053261,
+        0.03353999927639961,
+        0.09772955736843869
+      ],
+      "min": [
+        -0.033608999103307724,
+        -0.03349500149488449,
+        0.0003475599958164821
+      ],
+      "size": [
+        0.06725800037384033,
+        0.0670350007712841,
+        0.09738199737262221
+      ]
+    },
+    "description": "D00512 Metal Cup",
+    "name": "D00512 Metal Cup",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.224
+  },
+  "asset_id": "D00512",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          2.0001083612442017e-05,
+          2.249889075756073e-05,
+          0.049038558682127587
+        ],
+        "max": [
+          0.03364900127053261,
+          0.03353999927639961,
+          0.09772955736843869
+        ],
+        "min": [
+          -0.033608999103307724,
+          -0.03349500149488449,
+          0.0003475599958164821
+        ]
+      },
+      "center_of_mass": [
+        4.2426021536812186e-05,
+        -1.8644654119270854e-05,
+        0.050278980284929276
+      ],
+      "collision": {},
+      "density": 7900.0,
+      "id": "part_00",
+      "inertia": [
+        0.00016002319171093404,
+        0.00030060086282901466,
+        0.0003011726657859981
+      ],
+      "mass": 0.224,
+      "material": "metal",
+      "name": "D00512 Metal Cup",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00512 Metal Cup",
+        "part_name": "D00512 Metal Cup"
+      },
+      "volume": 2.8354431254954277e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.06725800037384033,
+        0.0670350007712841,
+        0.09738199737262221
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.224
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00535 Muffin/IsaacSim_assets_6a6c2ec3cb2d3efc65b3d0df/physics_6a6c2ec3cb2d3efc65b3d0df.json b/batch17/D00535 Muffin/IsaacSim_assets_6a6c2ec3cb2d3efc65b3d0df/physics_6a6c2ec3cb2d3efc65b3d0df.json
new file mode 100644
index 0000000000000000000000000000000000000000..d355a066422bfb78047ff8516973104919318a88
--- /dev/null
+++ b/batch17/D00535 Muffin/IsaacSim_assets_6a6c2ec3cb2d3efc65b3d0df/physics_6a6c2ec3cb2d3efc65b3d0df.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03226099908351898,
+        0.03235499933362007,
+        0.050227959640324116
+      ],
+      "min": [
+        -0.0316770002245903,
+        -0.03159699961543083,
+        0.00032096004906634334
+      ],
+      "size": [
+        0.06393799930810928,
+        0.0639519989490509,
+        0.04990699959125777
+      ]
+    },
+    "description": "D00535 Muffin",
+    "name": "D00535 Muffin",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.12
+  },
+  "asset_id": "D00535",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0002919994294643402,
+          0.00037899985909461975,
+          0.02527445984469523
+        ],
+        "max": [
+          0.03226099908351898,
+          0.03235499933362007,
+          0.050227959640324116
+        ],
+        "min": [
+          -0.0316770002245903,
+          -0.03159699961543083,
+          0.00032096004906634334
+        ]
+      },
+      "center_of_mass": [
+        0.00015987909864634275,
+        0.000552539830096066,
+        0.02427024021744728
+      ],
+      "collision": {},
+      "density": 480.0,
+      "id": "part_00",
+      "inertia": [
+        3.940099850296974e-05,
+        3.9620252209715545e-05,
+        4.539946166914888e-05
+      ],
+      "mass": 0.12,
+      "material": "foam",
+      "name": "D00535 Muffin",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00535 Muffin",
+        "part_name": "D00535 Muffin"
+      },
+      "volume": 0.00024999999441206456
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.06393799930810928,
+        0.0639519989490509,
+        0.04990699959125777
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.12
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00549 Napkin Holder/IsaacSim_assets_6a6c2d3ecb2d3efc65b34b96/physics_6a6c2d3ecb2d3efc65b34b96.json b/batch17/D00549 Napkin Holder/IsaacSim_assets_6a6c2d3ecb2d3efc65b34b96/physics_6a6c2d3ecb2d3efc65b34b96.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f9819af4bf63efe4154de3a0230e235204e8bbd
--- /dev/null
+++ b/batch17/D00549 Napkin Holder/IsaacSim_assets_6a6c2d3ecb2d3efc65b34b96/physics_6a6c2d3ecb2d3efc65b34b96.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.05967000126838684,
+        0.028231000527739525,
+        0.1471953745931387
+      ],
+      "min": [
+        -0.06028300151228905,
+        -0.027966000139713287,
+        0.000775380720369867
+      ],
+      "size": [
+        0.11995300278067589,
+        0.05619700066745281,
+        0.14641999387276883
+      ]
+    },
+    "description": "D00549 Napkin Holder",
+    "name": "D00549 Napkin Holder",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.35
+  },
+  "asset_id": "D00549",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0003065001219511032,
+          0.00013250019401311874,
+          0.07398537765675428
+        ],
+        "max": [
+          0.05967000126838684,
+          0.028231000527739525,
+          0.1471953745931387
+        ],
+        "min": [
+          -0.06028300151228905,
+          -0.027966000139713287,
+          0.000775380720369867
+        ]
+      },
+      "center_of_mass": [
+        -0.0008146616164594889,
+        0.00045848803711123765,
+        0.06642144173383713
+      ],
+      "collision": {},
+      "density": 8047.0,
+      "id": "part_00",
+      "inertia": [
+        0.0004522507661022246,
+        0.000623039435595274,
+        0.0009120951872318983
+      ],
+      "mass": 0.35,
+      "material": "metal",
+      "name": "D00549 Napkin Holder",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00549 Napkin Holder",
+        "part_name": "D00549 Napkin Holder"
+      },
+      "volume": 4.3494469248109296e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.11995300278067589,
+        0.05619700066745281,
+        0.14641999387276883
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.35
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00552 Notebook/IsaacSim_assets_6a6c2cc6cb2d3efc65b32368/physics_6a6c2cc6cb2d3efc65b32368.json b/batch17/D00552 Notebook/IsaacSim_assets_6a6c2cc6cb2d3efc65b32368/physics_6a6c2cc6cb2d3efc65b32368.json
new file mode 100644
index 0000000000000000000000000000000000000000..143b41f9358ae3cfde78bab1026c34eafb9ae9c0
--- /dev/null
+++ b/batch17/D00552 Notebook/IsaacSim_assets_6a6c2cc6cb2d3efc65b32368/physics_6a6c2cc6cb2d3efc65b32368.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.07249700278043747,
+        0.09393300116062164,
+        0.1024286076426506
+      ],
+      "min": [
+        -0.07187899947166443,
+        -0.09494999796152115,
+        0.0010376099735367461
+      ],
+      "size": [
+        0.1443760022521019,
+        0.1888829991221428,
+        0.10139099766911386
+      ]
+    },
+    "description": "D00552 Notebook",
+    "name": "D00552 Notebook",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.4
+  },
+  "asset_id": "D00552",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0003090016543865204,
+          -0.0005084984004497528,
+          0.051733108808093675
+        ],
+        "max": [
+          0.07249700278043747,
+          0.09393300116062164,
+          0.1024286076426506
+        ],
+        "min": [
+          -0.07187899947166443,
+          -0.09494999796152115,
+          0.0010376099735367461
+        ]
+      },
+      "center_of_mass": [
+        0.011110059916973114,
+        0.00046522263437509537,
+        0.03701714426279068
+      ],
+      "collision": {},
+      "density": 800.0,
+      "id": "part_00",
+      "inertia": [
+        0.000794866937212646,
+        0.001360489521175623,
+        0.001794471638277173
+      ],
+      "mass": 0.4,
+      "material": "wood",
+      "name": "D00552 Notebook",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00552 Notebook",
+        "part_name": "D00552 Notebook"
+      },
+      "volume": 0.0005000000074505806
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.1443760022521019,
+        0.1888829991221428,
+        0.10139099766911386
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.4
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00553 Notebook Cookbook/IsaacSim_assets_6a6c2b78cb2d3efc65b2c1a4/physics_6a6c2b78cb2d3efc65b2c1a4.json b/batch17/D00553 Notebook Cookbook/IsaacSim_assets_6a6c2b78cb2d3efc65b2c1a4/physics_6a6c2b78cb2d3efc65b2c1a4.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7be9ea5363de212c56214f57e76be0f0dea924b
--- /dev/null
+++ b/batch17/D00553 Notebook Cookbook/IsaacSim_assets_6a6c2b78cb2d3efc65b2c1a4/physics_6a6c2b78cb2d3efc65b2c1a4.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.09167899936437607,
+        0.1256919950246811,
+        0.06474357936531305
+      ],
+      "min": [
+        -0.09780299663543701,
+        -0.1260180026292801,
+        0.0009205797687172908
+      ],
+      "size": [
+        0.18948199599981308,
+        0.2517099976539612,
+        0.06382299959659576
+      ]
+    },
+    "description": "D00553 Notebook Cookbook",
+    "name": "D00553 Notebook Cookbook",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.2
+  },
+  "asset_id": "D00553",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.003061998635530472,
+          -0.0001630038022994995,
+          0.03283207956701517
+        ],
+        "max": [
+          0.09167899936437607,
+          0.1256919950246811,
+          0.06474357936531305
+        ],
+        "min": [
+          -0.09780299663543701,
+          -0.1260180026292801,
+          0.0009205797687172908
+        ]
+      },
+      "center_of_mass": [
+        -0.0018667185213416815,
+        -0.00017839398060459644,
+        0.03283170610666275
+      ],
+      "collision": {},
+      "density": 800.0,
+      "id": "part_00",
+      "inertia": [
+        0.0038670103531330824,
+        0.006710431072860956,
+        0.009779724292457104
+      ],
+      "mass": 1.2,
+      "material": "wood",
+      "name": "D00553 Notebook Cookbook",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00553 Notebook Cookbook",
+        "part_name": "D00553 Notebook Cookbook"
+      },
+      "volume": 0.0015000000596046448
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.18948199599981308,
+        0.2517099976539612,
+        0.06382299959659576
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.2
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00591 Pasta/IsaacSim_assets_6a6c271ecb2d3efc65b149dc/physics_6a6c271ecb2d3efc65b149dc.json b/batch17/D00591 Pasta/IsaacSim_assets_6a6c271ecb2d3efc65b149dc/physics_6a6c271ecb2d3efc65b149dc.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f42c348ea1da2e3120bc36f6c01bb5fb55f2c04
--- /dev/null
+++ b/batch17/D00591 Pasta/IsaacSim_assets_6a6c271ecb2d3efc65b149dc/physics_6a6c271ecb2d3efc65b149dc.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.01754000037908554,
+        0.013011000119149685,
+        0.0063680000603199005
+      ],
+      "min": [
+        -0.01738700084388256,
+        -0.013124999590218067,
+        -9.999999974752427e-07
+      ],
+      "size": [
+        0.0349270012229681,
+        0.026135999709367752,
+        0.006369000060317376
+      ]
+    },
+    "description": "D00591 Pasta",
+    "name": "D00591 Pasta",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.000704
+  },
+  "asset_id": "D00591",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          7.649976760149002e-05,
+          -5.699973553419113e-05,
+          0.0031835000301612126
+        ],
+        "max": [
+          0.01754000037908554,
+          0.013011000119149685,
+          0.0063680000603199005
+        ],
+        "min": [
+          -0.01738700084388256,
+          -0.013124999590218067,
+          -9.999999974752427e-07
+        ]
+      },
+      "center_of_mass": [
+        -5.942192001384683e-05,
+        -7.18503724783659e-05,
+        0.0029465132392942905
+      ],
+      "collision": {},
+      "density": 1400.0,
+      "id": "part_00",
+      "inertia": [
+        2.8679540520215596e-08,
+        5.082997134309153e-08,
+        7.720468175875794e-08
+      ],
+      "mass": 0.000704,
+      "material": "composite",
+      "name": "D00591 Pasta",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00591 Pasta",
+        "part_name": "D00591 Pasta"
+      },
+      "volume": 5.025000012080585e-07
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.0349270012229681,
+        0.026135999709367752,
+        0.006369000060317376
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.000704
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00597 Peeler/IsaacSim_assets_6a6c26a0cb2d3efc65b128bc/physics_6a6c26a0cb2d3efc65b128bc.json b/batch17/D00597 Peeler/IsaacSim_assets_6a6c26a0cb2d3efc65b128bc/physics_6a6c26a0cb2d3efc65b128bc.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce690caf2c6416b7cf8541930a08da52b1360b17
--- /dev/null
+++ b/batch17/D00597 Peeler/IsaacSim_assets_6a6c26a0cb2d3efc65b128bc/physics_6a6c26a0cb2d3efc65b128bc.json	
@@ -0,0 +1,235 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.07874900102615356,
+        0.03779099881649017,
+        0.022432999685406685
+      ],
+      "min": [
+        -0.0533440001308918,
+        -0.03781500086188316,
+        -7.000000186963007e-05
+      ],
+      "size": [
+        0.13209300115704536,
+        0.07560599967837334,
+        0.022502999687276315
+      ]
+    },
+    "description": "D00597 Peeler",
+    "name": "D00597 Peeler",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.072
+  },
+  "asset_id": "D00597",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.045007498934865,
+          -1.600012183189392e-05,
+          0.011154500069096684
+        ],
+        "max": [
+          -0.0376259982585907,
+          0.03445199877023697,
+          0.01738400012254715
+        ],
+        "min": [
+          -0.0523889996111393,
+          -0.03448399901390076,
+          0.004925000015646219
+        ]
+      },
+      "center_of_mass": [
+        0.0005349403363652527,
+        0.00040813529631122947,
+        6.142192432889715e-05
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_00",
+      "inertia": [
+        1.9088446379100787e-07,
+        3.7551496916421456e-06,
+        3.837691110675223e-06
+      ],
+      "mass": 0.01,
+      "material": "metal",
+      "name": "D00597 Peeler",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00597 Peeler",
+        "part_name": "D00597 Peeler"
+      },
+      "volume": 1.2820512533952028e-06
+    },
+    {
+      "bounds": {
+        "center": [
+          -0.04549599997699261,
+          0.03609499894082546,
+          0.010906499810516834
+        ],
+        "max": [
+          -0.04212399944663048,
+          0.03779099881649017,
+          0.013976999558508396
+        ],
+        "min": [
+          -0.048868000507354736,
+          0.03439899906516075,
+          0.007836000062525272
+        ]
+      },
+      "center_of_mass": [
+        -0.04557280242443085,
+        0.03638026490807533,
+        0.010863253846764565
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_01",
+      "inertia": [
+        2.9125899470017202e-09,
+        3.0181630528147707e-09,
+        4.622023208611381e-09
+      ],
+      "mass": 0.001,
+      "material": "metal",
+      "name": "D00597 Peeler",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00597 Peeler",
+        "part_name": "D00597 Peeler"
+      },
+      "volume": 1.2820513429454505e-07
+    },
+    {
+      "bounds": {
+        "center": [
+          -0.045275500044226646,
+          -0.0344845000654459,
+          0.010887000011280179
+        ],
+        "max": [
+          -0.0417260006070137,
+          -0.031153999269008636,
+          0.013962999917566776
+        ],
+        "min": [
+          -0.04882499948143959,
+          -0.03781500086188316,
+          0.007811000104993582
+        ]
+      },
+      "center_of_mass": [
+        -0.045489292591810226,
+        -0.03471410274505615,
+        0.010904286988079548
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_02",
+      "inertia": [
+        4.750090543126362e-09,
+        5.62525670488867e-09,
+        5.9486584547130406e-09
+      ],
+      "mass": 0.001,
+      "material": "metal",
+      "name": "D00597 Peeler",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00597 Peeler",
+        "part_name": "D00597 Peeler"
+      },
+      "volume": 1.2820513429454505e-07
+    },
+    {
+      "bounds": {
+        "center": [
+          0.012702500447630882,
+          -6.099976599216461e-05,
+          0.011181499841768527
+        ],
+        "max": [
+          0.07874900102615356,
+          0.036699000746011734,
+          0.022432999685406685
+        ],
+        "min": [
+          -0.0533440001308918,
+          -0.03682100027799606,
+          -7.000000186963007e-05
+        ]
+      },
+      "center_of_mass": [
+        0.0026984165888279676,
+        -1.3917122487328015e-05,
+        0.010958993807435036
+      ],
+      "collision": {},
+      "density": 1100.0,
+      "id": "part_03",
+      "inertia": [
+        1.682650690781884e-05,
+        6.675108306808397e-05,
+        8.090704795904458e-05
+      ],
+      "mass": 0.06,
+      "material": "plastic",
+      "name": "D00597 Peeler",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00597 Peeler",
+        "part_name": "D00597 Peeler"
+      },
+      "volume": 5.454545332626863e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.13209300115704536,
+        0.07560599967837334,
+        0.022502999687276315
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.072
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 4
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00615 Pie/IsaacSim_assets_6a6ad49dcb2d3efc659fce7c/physics_6a6ad49dcb2d3efc659fce7c.json b/batch17/D00615 Pie/IsaacSim_assets_6a6ad49dcb2d3efc659fce7c/physics_6a6ad49dcb2d3efc659fce7c.json
new file mode 100644
index 0000000000000000000000000000000000000000..54e43349d822dd9186bd091de10328b98a4b03da
--- /dev/null
+++ b/batch17/D00615 Pie/IsaacSim_assets_6a6ad49dcb2d3efc659fce7c/physics_6a6ad49dcb2d3efc659fce7c.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.08263099938631058,
+        0.08254600316286087,
+        0.05200839135795832
+      ],
+      "min": [
+        -0.08171100169420242,
+        -0.0815190002322197,
+        0.0007963903190102428
+      ],
+      "size": [
+        0.164342001080513,
+        0.16406500339508057,
+        0.051212001038948074
+      ]
+    },
+    "description": "D00615 Pie",
+    "name": "D00615 Pie",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.2
+  },
+  "asset_id": "D00615",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00045999884605407715,
+          0.0005135014653205872,
+          0.02640239083848428
+        ],
+        "max": [
+          0.08263099938631058,
+          0.08254600316286087,
+          0.05200839135795832
+        ],
+        "min": [
+          -0.08171100169420242,
+          -0.0815190002322197,
+          0.0007963903190102428
+        ]
+      },
+      "center_of_mass": [
+        0.00023097156372386962,
+        0.0004514298925641924,
+        0.026415202766656876
+      ],
+      "collision": {},
+      "density": 600.0,
+      "id": "part_00",
+      "inertia": [
+        0.0017843075329437852,
+        0.0018091612728312612,
+        0.0031638031359761953
+      ],
+      "mass": 1.2,
+      "material": "wood",
+      "name": "D00615 Pie",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00615 Pie",
+        "part_name": "D00615 Pie"
+      },
+      "volume": 0.0020000000794728598
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.164342001080513,
+        0.16406500339508057,
+        0.051212001038948074
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.2
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00621 Plant/IsaacSim_assets_6a6ac96ccb2d3efc659e1ec8/physics_6a6ac96ccb2d3efc659e1ec8.json b/batch17/D00621 Plant/IsaacSim_assets_6a6ac96ccb2d3efc659e1ec8/physics_6a6ac96ccb2d3efc659e1ec8.json
new file mode 100644
index 0000000000000000000000000000000000000000..99cd342086570ebf41f9b88751e094a348654734
--- /dev/null
+++ b/batch17/D00621 Plant/IsaacSim_assets_6a6ac96ccb2d3efc659e1ec8/physics_6a6ac96ccb2d3efc659e1ec8.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.08674599975347519,
+        0.10670900344848633,
+        0.35064857453107834
+      ],
+      "min": [
+        -0.0987820029258728,
+        -0.09781699627637863,
+        0.00198058903333731
+      ],
+      "size": [
+        0.185528002679348,
+        0.20452599972486496,
+        0.34866798549774103
+      ]
+    },
+    "description": "D00621 Plant",
+    "name": "D00621 Plant",
+    "object_type": "rigid_bodies",
+    "total_mass": 12.0
+  },
+  "asset_id": "D00621",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.006018001586198807,
+          0.004446003586053848,
+          0.17631458178220782
+        ],
+        "max": [
+          0.08674599975347519,
+          0.10670900344848633,
+          0.35064857453107834
+        ],
+        "min": [
+          -0.0987820029258728,
+          -0.09781699627637863,
+          0.00198058903333731
+        ]
+      },
+      "center_of_mass": [
+        0.0013401779578998685,
+        -0.0033262947108596563,
+        0.0773577019572258
+      ],
+      "collision": {},
+      "density": 1500.0,
+      "id": "part_00",
+      "inertia": [
+        0.029587645083665848,
+        0.04924933239817619,
+        0.04963165894150734
+      ],
+      "mass": 12.0,
+      "material": "composite",
+      "name": "D00621 Plant",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00621 Plant",
+        "part_name": "D00621 Plant"
+      },
+      "volume": 0.008
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.185528002679348,
+        0.20452599972486496,
+        0.34866798549774103
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 12.0
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00624 Plate Board/IsaacSim_assets_6a6acfcacb2d3efc659f393b/IsaacSim_asset_6a6acfcacb2d3efc659f393b.usd b/batch17/D00624 Plate Board/IsaacSim_assets_6a6acfcacb2d3efc659f393b/IsaacSim_asset_6a6acfcacb2d3efc659f393b.usd
new file mode 100644
index 0000000000000000000000000000000000000000..21ad49ec84da2123e7c43805291ba4fa8a13c9b9
Binary files /dev/null and b/batch17/D00624 Plate Board/IsaacSim_assets_6a6acfcacb2d3efc659f393b/IsaacSim_asset_6a6acfcacb2d3efc659f393b.usd differ
diff --git a/batch17/D00624 Plate Board/IsaacSim_assets_6a6acfcacb2d3efc659f393b/physics_6a6acfcacb2d3efc659f393b.json b/batch17/D00624 Plate Board/IsaacSim_assets_6a6acfcacb2d3efc659f393b/physics_6a6acfcacb2d3efc659f393b.json
new file mode 100644
index 0000000000000000000000000000000000000000..538df1e05b7147f413e43bf357aa32ade0309fb6
--- /dev/null
+++ b/batch17/D00624 Plate Board/IsaacSim_assets_6a6acfcacb2d3efc659f393b/physics_6a6acfcacb2d3efc659f393b.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.1972469985485077,
+        0.15241700410842896,
+        0.03902409039437771
+      ],
+      "min": [
+        -0.19898399710655212,
+        -0.15078599750995636,
+        0.0018290915777470218
+      ],
+      "size": [
+        0.3962309956550598,
+        0.3032030016183853,
+        0.03719499881663069
+      ]
+    },
+    "description": "D00624 Plate Board",
+    "name": "D00624 Plate Board",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.44
+  },
+  "asset_id": "D00624",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0008684992790222168,
+          0.0008155032992362976,
+          0.020426590986062365
+        ],
+        "max": [
+          0.1972469985485077,
+          0.15241700410842896,
+          0.03902409039437771
+        ],
+        "min": [
+          -0.19898399710655212,
+          -0.15078599750995636,
+          0.0018290915777470218
+        ]
+      },
+      "center_of_mass": [
+        -0.0008502542623318732,
+        0.0007867548265494406,
+        0.020455606281757355
+      ],
+      "collision": {},
+      "density": 600.0,
+      "id": "part_00",
+      "inertia": [
+        0.010956961661577225,
+        0.01867680251598358,
+        0.02930983155965805
+      ],
+      "mass": 1.44,
+      "material": "wood",
+      "name": "D00624 Plate Board",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00624 Plate Board",
+        "part_name": "D00624 Plate Board"
+      },
+      "volume": 0.0024000000953674316
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.3962309956550598,
+        0.3032030016183853,
+        0.03719499881663069
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.44
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00628 Plate Cutting Board Tray/IsaacSim_assets_6a6acf81cb2d3efc659f2abf/physics_6a6acf81cb2d3efc659f2abf.json b/batch17/D00628 Plate Cutting Board Tray/IsaacSim_assets_6a6acf81cb2d3efc659f2abf/physics_6a6acf81cb2d3efc659f2abf.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bfb32cbdfdb2ce2fa4dcd8baa8ed7612b253f0e
--- /dev/null
+++ b/batch17/D00628 Plate Cutting Board Tray/IsaacSim_assets_6a6acf81cb2d3efc659f2abf/physics_6a6acf81cb2d3efc659f2abf.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.20089900493621826,
+        0.14925800263881683,
+        0.043925401754677296
+      ],
+      "min": [
+        -0.2003069967031479,
+        -0.14821399748325348,
+        0.0019974000024376437
+      ],
+      "size": [
+        0.40120600163936615,
+        0.2974720001220703,
+        0.04192800175223965
+      ]
+    },
+    "description": "D00628 Plate Cutting Board Tray",
+    "name": "D00628 Plate Cutting Board Tray",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.6
+  },
+  "asset_id": "D00628",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00029600411653518677,
+          0.0005220025777816772,
+          0.02296140087855747
+        ],
+        "max": [
+          0.20089900493621826,
+          0.14925800263881683,
+          0.043925401754677296
+        ],
+        "min": [
+          -0.2003069967031479,
+          -0.14821399748325348,
+          0.0019974000024376437
+        ]
+      },
+      "center_of_mass": [
+        0.0004966108244843781,
+        0.0004116318596061319,
+        0.022898245602846146
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        0.004491431638598442,
+        0.008079662919044495,
+        0.01239841803908348
+      ],
+      "mass": 0.6,
+      "material": "wood",
+      "name": "D00628 Plate Cutting Board Tray",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00628 Plate Cutting Board Tray",
+        "part_name": "D00628 Plate Cutting Board Tray"
+      },
+      "volume": 0.0008571428912026542
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.40120600163936615,
+        0.2974720001220703,
+        0.04192800175223965
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.6
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00644 Pot Pan/IsaacSim_assets_6a6acbedcb2d3efc659ea1a5/physics_6a6acbedcb2d3efc659ea1a5.json b/batch17/D00644 Pot Pan/IsaacSim_assets_6a6acbedcb2d3efc659ea1a5/physics_6a6acbedcb2d3efc659ea1a5.json
new file mode 100644
index 0000000000000000000000000000000000000000..65ed423901bbe4c26e3afcbda1940cb21ecef433
--- /dev/null
+++ b/batch17/D00644 Pot Pan/IsaacSim_assets_6a6acbedcb2d3efc659ea1a5/physics_6a6acbedcb2d3efc659ea1a5.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.10518699884414673,
+        0.27244800329208374,
+        0.05961881158873439
+      ],
+      "min": [
+        -0.10538200289011002,
+        -0.1387850046157837,
+        0.002231809776276347
+      ],
+      "size": [
+        0.21056900173425674,
+        0.41123300790786743,
+        0.05738700181245804
+      ]
+    },
+    "description": "D00644 Pot Pan",
+    "name": "D00644 Pot Pan",
+    "object_type": "rigid_bodies",
+    "total_mass": 2.9
+  },
+  "asset_id": "D00644",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -9.750202298164368e-05,
+          0.06683149933815002,
+          0.03092531068250537
+        ],
+        "max": [
+          0.10518699884414673,
+          0.27244800329208374,
+          0.05961881158873439
+        ],
+        "min": [
+          -0.10538200289011002,
+          -0.1387850046157837,
+          0.002231809776276347
+        ]
+      },
+      "center_of_mass": [
+        -0.000138514005811885,
+        0.014462202787399292,
+        0.031123923137784004
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_00",
+      "inertia": [
+        0.006221286486834288,
+        0.021985813975334167,
+        0.02723650261759758
+      ],
+      "mass": 2.9,
+      "material": "metal",
+      "name": "D00644 Pot Pan",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00644 Pot Pan",
+        "part_name": "D00644 Pot Pan"
+      },
+      "volume": 0.0003717948840214656
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.21056900173425674,
+        0.41123300790786743,
+        0.05738700181245804
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 2.9
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00654 Potpan/IsaacSim_assets_6a6ac772cb2d3efc659d9a69/physics_6a6ac772cb2d3efc659d9a69.json b/batch17/D00654 Potpan/IsaacSim_assets_6a6ac772cb2d3efc659d9a69/physics_6a6ac772cb2d3efc659d9a69.json
new file mode 100644
index 0000000000000000000000000000000000000000..91cfa61d20704f620566bd30adbcd0d07ac45f54
--- /dev/null
+++ b/batch17/D00654 Potpan/IsaacSim_assets_6a6ac772cb2d3efc659d9a69/physics_6a6ac772cb2d3efc659d9a69.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.10258399695158005,
+        0.2638790011405945,
+        0.058313838904723525
+      ],
+      "min": [
+        -0.10364300012588501,
+        -0.1305920034646988,
+        0.0021208399848546833
+      ],
+      "size": [
+        0.20622699707746506,
+        0.3944710046052933,
+        0.05619299891986884
+      ]
+    },
+    "description": "D00654 Potpan",
+    "name": "D00654 Potpan",
+    "object_type": "rigid_bodies",
+    "total_mass": 2.76
+  },
+  "asset_id": "D00654",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0005295015871524811,
+          0.06664349883794785,
+          0.030217339444789104
+        ],
+        "max": [
+          0.10258399695158005,
+          0.2638790011405945,
+          0.058313838904723525
+        ],
+        "min": [
+          -0.10364300012588501,
+          -0.1305920034646988,
+          0.0021208399848546833
+        ]
+      },
+      "center_of_mass": [
+        -0.0004872134595643729,
+        0.014623439870774746,
+        0.03061281144618988
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_00",
+      "inertia": [
+        0.006149020045995712,
+        0.019072432070970535,
+        0.024289432913064957
+      ],
+      "mass": 2.76,
+      "material": "metal",
+      "name": "D00654 Potpan",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00654 Potpan",
+        "part_name": "D00654 Potpan"
+      },
+      "volume": 0.00035384615262349446
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.20622699707746506,
+        0.3944710046052933,
+        0.05619299891986884
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 2.76
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00661 Rack/IsaacSim_assets_6a6ac3facb2d3efc659cb1dc/physics_6a6ac3facb2d3efc659cb1dc.json b/batch17/D00661 Rack/IsaacSim_assets_6a6ac3facb2d3efc659cb1dc/physics_6a6ac3facb2d3efc659cb1dc.json
new file mode 100644
index 0000000000000000000000000000000000000000..605b02b205de5a96a026ce5380d791315b27968e
--- /dev/null
+++ b/batch17/D00661 Rack/IsaacSim_assets_6a6ac3facb2d3efc659cb1dc/physics_6a6ac3facb2d3efc659cb1dc.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.8124610185623169,
+        0.27667298913002014,
+        1.444536759518087
+      ],
+      "min": [
+        -0.8201760053634644,
+        -0.2737950086593628,
+        0.005682750073901843
+      ],
+      "size": [
+        1.6326370239257812,
+        0.5504679977893829,
+        1.438854009444185
+      ]
+    },
+    "description": "D00661 Rack",
+    "name": "D00661 Rack",
+    "object_type": "rigid_bodies",
+    "total_mass": 45.0
+  },
+  "asset_id": "D00661",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0038574934005737305,
+          0.0014389902353286743,
+          0.7251097547959944
+        ],
+        "max": [
+          0.8124610185623169,
+          0.27667298913002014,
+          1.444536759518087
+        ],
+        "min": [
+          -0.8201760053634644,
+          -0.2737950086593628,
+          0.005682750073901843
+        ]
+      },
+      "center_of_mass": [
+        -0.0037042470648884773,
+        0.0013546755071729422,
+        0.77448570728302
+      ],
+      "collision": {},
+      "density": 400.0,
+      "id": "part_00",
+      "inertia": [
+        11.294915199279785,
+        12.809160232543945,
+        21.39348793029785
+      ],
+      "mass": 45.0,
+      "material": "foam",
+      "name": "D00661 Rack",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00661 Rack",
+        "part_name": "D00661 Rack"
+      },
+      "volume": 0.1125
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        1.6326370239257812,
+        0.5504679977893829,
+        1.438854009444185
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 45.0
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch17/D00662 Recipe Book/IsaacSim_assets_6a6ac544cb2d3efc659d16b0/physics_6a6ac544cb2d3efc659d16b0.json b/batch17/D00662 Recipe Book/IsaacSim_assets_6a6ac544cb2d3efc659d16b0/physics_6a6ac544cb2d3efc659d16b0.json
new file mode 100644
index 0000000000000000000000000000000000000000..419ad18d233f43e612cad5db647268bdf389a9a4
--- /dev/null
+++ b/batch17/D00662 Recipe Book/IsaacSim_assets_6a6ac544cb2d3efc659d16b0/physics_6a6ac544cb2d3efc659d16b0.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.096390001475811,
+        0.12630699574947357,
+        0.04428954981267452
+      ],
+      "min": [
+        -0.09715499728918076,
+        -0.1267309933900833,
+        0.0013815508850711922
+      ],
+      "size": [
+        0.19354499876499176,
+        0.2530379891395569,
+        0.04290799892760333
+      ]
+    },
+    "description": "D00662 Recipe Book",
+    "name": "D00662 Recipe Book",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.2
+  },
+  "asset_id": "D00662",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0003824979066848755,
+          -0.0002119988203048706,
+          0.022835550348872857
+        ],
+        "max": [
+          0.096390001475811,
+          0.12630699574947357,
+          0.04428954981267452
+        ],
+        "min": [
+          -0.09715499728918076,
+          -0.1267309933900833,
+          0.0013815508850711922
+        ]
+      },
+      "center_of_mass": [
+        -0.0014438561629503965,
+        -0.00021937912970315665,
+        0.02284667082130909
+      ],
+      "collision": {},
+      "density": 800.0,
+      "id": "part_00",
+      "inertia": [
+        0.0037892095278948545,
+        0.0063395570032298565,
+        0.009760120883584023
+      ],
+      "mass": 1.2,
+      "material": "wood",
+      "name": "D00662 Recipe Book",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00662 Recipe Book",
+        "part_name": "D00662 Recipe Book"
+      },
+      "volume": 0.0015000000596046448
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.19354499876499176,
+        0.2530379891395569,
+        0.04290799892760333
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.2
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00003 Assorted Fruit/IsaacSim_assets_6a6c4c3fcb2d3efc65baf299/physics_6a6c4c3fcb2d3efc65baf299.json b/batch19/D00003 Assorted Fruit/IsaacSim_assets_6a6c4c3fcb2d3efc65baf299/physics_6a6c4c3fcb2d3efc65baf299.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5d213bcdce03f2f330a26d99bfec9a63f104239
--- /dev/null
+++ b/batch19/D00003 Assorted Fruit/IsaacSim_assets_6a6c4c3fcb2d3efc65baf299/physics_6a6c4c3fcb2d3efc65baf299.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.027367999777197838,
+        0.027792999520897865,
+        0.05745600163936615
+      ],
+      "min": [
+        -0.027698999270796776,
+        -0.027428999543190002,
+        0.00022800105216447264
+      ],
+      "size": [
+        0.055066999047994614,
+        0.05522199906408787,
+        0.05722800058720168
+      ]
+    },
+    "description": "D00003 Assorted Fruit",
+    "name": "D00003 Assorted Fruit",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.15
+  },
+  "asset_id": "D00003",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.000165499746799469,
+          0.00018199998885393143,
+          0.02884200134576531
+        ],
+        "max": [
+          0.027367999777197838,
+          0.027792999520897865,
+          0.05745600163936615
+        ],
+        "min": [
+          -0.027698999270796776,
+          -0.027428999543190002,
+          0.00022800105216447264
+        ]
+      },
+      "center_of_mass": [
+        0.00020678486907854676,
+        1.5161052942858078e-05,
+        0.02671746537089348
+      ],
+      "collision": {},
+      "density": 800.0,
+      "id": "part_00",
+      "inertia": [
+        4.593090125126764e-05,
+        4.746459308080375e-05,
+        4.8291185521520674e-05
+      ],
+      "mass": 0.15,
+      "material": "wood",
+      "name": "D00003 Assorted Fruit",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00003 Assorted Fruit",
+        "part_name": "D00003 Assorted Fruit"
+      },
+      "volume": 0.0001875000074505806
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.055066999047994614,
+        0.05522199906408787,
+        0.05722800058720168
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.15
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00009 Bamboo Skewers/IsaacSim_assets_6a6c4db3cb2d3efc65bb1322/physics_6a6c4db3cb2d3efc65bb1322.json b/batch19/D00009 Bamboo Skewers/IsaacSim_assets_6a6c4db3cb2d3efc65bb1322/physics_6a6c4db3cb2d3efc65bb1322.json
new file mode 100644
index 0000000000000000000000000000000000000000..e346716d7ffab0297363909014928e41458ff1cd
--- /dev/null
+++ b/batch19/D00009 Bamboo Skewers/IsaacSim_assets_6a6c4db3cb2d3efc65bb1322/physics_6a6c4db3cb2d3efc65bb1322.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.15505599975585938,
+        0.005229999776929617,
+        0.011214420199394226
+      ],
+      "min": [
+        -0.14431799948215485,
+        -0.005125000141561031,
+        0.0009674202301539481
+      ],
+      "size": [
+        0.2993739992380142,
+        0.010354999918490648,
+        0.010246999969240278
+      ]
+    },
+    "description": "D00009 Bamboo Skewers",
+    "name": "D00009 Bamboo Skewers",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.00189
+  },
+  "asset_id": "D00009",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.005369000136852264,
+          5.249981768429279e-05,
+          0.006090920214774087
+        ],
+        "max": [
+          0.15505599975585938,
+          0.005229999776929617,
+          0.011214420199394226
+        ],
+        "min": [
+          -0.14431799948215485,
+          -0.005125000141561031,
+          0.0009674202301539481
+        ]
+      },
+      "center_of_mass": [
+        -0.004131138790398836,
+        5.8186324167763814e-05,
+        0.006084111053496599
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        2.4345029103756133e-08,
+        1.242674989043735e-05,
+        1.2426964531186968e-05
+      ],
+      "mass": 0.00189,
+      "material": "wood",
+      "name": "D00009 Bamboo Skewers",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00009 Bamboo Skewers",
+        "part_name": "D00009 Bamboo Skewers"
+      },
+      "volume": 2.6999999369893753e-06
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.2993739992380142,
+        0.010354999918490648,
+        0.010246999969240278
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.00189
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00011 Bamboo Steamer Board Wooden Container/IsaacSim_assets_6a702e45cb2d3efc65ded96b/physics_6a702e45cb2d3efc65ded96b.json b/batch19/D00011 Bamboo Steamer Board Wooden Container/IsaacSim_assets_6a702e45cb2d3efc65ded96b/physics_6a702e45cb2d3efc65ded96b.json
new file mode 100644
index 0000000000000000000000000000000000000000..47c18db833a5fbde6baf999773a4f1564c0ee91c
--- /dev/null
+++ b/batch19/D00011 Bamboo Steamer Board Wooden Container/IsaacSim_assets_6a702e45cb2d3efc65ded96b/physics_6a702e45cb2d3efc65ded96b.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.1533530056476593,
+        0.1545020043849945,
+        0.12363061308860779
+      ],
+      "min": [
+        -0.1529799997806549,
+        -0.15179699659347534,
+        0.0012246101396158338
+      ],
+      "size": [
+        0.3063330054283142,
+        0.30629900097846985,
+        0.12240600294899195
+      ]
+    },
+    "description": "D00011 Bamboo Steamer Board Wooden Container",
+    "name": "D00011 Bamboo Steamer Board Wooden Container",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.417
+  },
+  "asset_id": "D00011",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00018650293350219727,
+          0.0013525038957595825,
+          0.06242761161411181
+        ],
+        "max": [
+          0.1533530056476593,
+          0.1545020043849945,
+          0.12363061308860779
+        ],
+        "min": [
+          -0.1529799997806549,
+          -0.15179699659347534,
+          0.0012246101396158338
+        ]
+      },
+      "center_of_mass": [
+        0.00018237780022900552,
+        0.0013936710311099887,
+        0.06247399002313614
+      ],
+      "collision": {},
+      "density": 500.0,
+      "id": "part_00",
+      "inertia": [
+        0.0037725623697042465,
+        0.0037740690167993307,
+        0.006509954575449228
+      ],
+      "mass": 0.417,
+      "material": "wood",
+      "name": "D00011 Bamboo Steamer Board Wooden Container",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00011 Bamboo Steamer Board Wooden Container",
+        "part_name": "D00011 Bamboo Steamer Board Wooden Container"
+      },
+      "volume": 0.0008339999914169312
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.3063330054283142,
+        0.30629900097846985,
+        0.12240600294899195
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.417
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00040 Board Placemat/IsaacSim_assets_6a6c6270cb2d3efc65bcde8d/physics_6a6c6270cb2d3efc65bcde8d.json b/batch19/D00040 Board Placemat/IsaacSim_assets_6a6c6270cb2d3efc65bcde8d/physics_6a6c6270cb2d3efc65bcde8d.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e9a417241dcc49bdd2b8291cc4bf7ac548186a2
--- /dev/null
+++ b/batch19/D00040 Board Placemat/IsaacSim_assets_6a6c6270cb2d3efc65bcde8d/physics_6a6c6270cb2d3efc65bcde8d.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.19963499903678894,
+        0.17116400599479675,
+        0.06256099790334702
+      ],
+      "min": [
+        -0.1991650015115738,
+        -0.17094500362873077,
+        0.0
+      ],
+      "size": [
+        0.39880000054836273,
+        0.3421090096235275,
+        0.06256099790334702
+      ]
+    },
+    "description": "D00040 Board Placemat",
+    "name": "D00040 Board Placemat",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.162
+  },
+  "asset_id": "D00040",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00023499876260757446,
+          0.0001095011830329895,
+          0.03128049895167351
+        ],
+        "max": [
+          0.19963499903678894,
+          0.17116400599479675,
+          0.06256099790334702
+        ],
+        "min": [
+          -0.1991650015115738,
+          -0.17094500362873077,
+          0.0
+        ]
+      },
+      "center_of_mass": [
+        -0.0003624525270424783,
+        -0.0012831608764827251,
+        0.031316716223955154
+      ],
+      "collision": {},
+      "density": 240.0,
+      "id": "part_00",
+      "inertia": [
+        0.0014964548172429204,
+        0.0021029177587479353,
+        0.0035927947610616684
+      ],
+      "mass": 0.162,
+      "material": "generic",
+      "name": "D00040 Board Placemat",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00040 Board Placemat",
+        "part_name": "D00040 Board Placemat"
+      },
+      "volume": 0.0006750000019868214
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.39880000054836273,
+        0.3421090096235275,
+        0.06256099790334702
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.162
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00071 Bowl Stack/IsaacSim_assets_6a715b8bb22aed4dbad40d88/physics_6a715b8bb22aed4dbad40d88.json b/batch19/D00071 Bowl Stack/IsaacSim_assets_6a715b8bb22aed4dbad40d88/physics_6a715b8bb22aed4dbad40d88.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4a9be8a3b6a2eafb7bd49edc719955e0ac64cca
--- /dev/null
+++ b/batch19/D00071 Bowl Stack/IsaacSim_assets_6a715b8bb22aed4dbad40d88/physics_6a715b8bb22aed4dbad40d88.json	
@@ -0,0 +1,276 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.08290497785278553,
+        0.08328066695697904,
+        0.15472467545782118
+      ],
+      "min": [
+        -0.0785821411128906,
+        -0.07973811961967855,
+        0.0006071170791983604
+      ],
+      "size": [
+        0.16148711896567614,
+        0.16301878657665758,
+        0.15411755837862282
+      ]
+    },
+    "description": "D00071 Bowl Stack",
+    "name": "D00071 Bowl Stack",
+    "object_type": "rigid_bodies",
+    "total_mass": 2.0
+  },
+  "asset_id": "D00071",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -8.039362728595734e-05,
+          0.00013001635670661926,
+          0.023559391032904387
+        ],
+        "max": [
+          0.055800002068281174,
+          0.055873557925224304,
+          0.04651166498661041
+        ],
+        "min": [
+          -0.05596078932285309,
+          -0.055613525211811066,
+          0.0006071170791983604
+        ]
+      },
+      "center_of_mass": [
+        -0.0002840933739207685,
+        0.00021513448155019432,
+        0.022633057087659836
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.00040682347025722265,
+        0.0004109967267140746,
+        0.0006847220356576145
+      ],
+      "mass": 0.4,
+      "material": "ceramic",
+      "name": "D00071 Bowl Stack",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00071 Bowl Stack",
+        "part_name": "D00071 Bowl Stack"
+      },
+      "volume": 0.00016666666915019353
+    },
+    {
+      "bounds": {
+        "center": [
+          -8.271777536226349e-05,
+          0.0011113158972915413,
+          0.04673947994652016
+        ],
+        "max": [
+          0.07841670556216607,
+          0.08004220873613233,
+          0.07190882947378212
+        ],
+        "min": [
+          -0.0785821411128906,
+          -0.07781957694154924,
+          0.021570130419258208
+        ]
+      },
+      "center_of_mass": [
+        -0.00026217757840640843,
+        0.0002267539530294016,
+        0.021993238478899002
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_01",
+      "inertia": [
+        0.00040682347025722265,
+        0.0004109967267140746,
+        0.0006847220356576145
+      ],
+      "mass": 0.4,
+      "material": "ceramic",
+      "name": "D00071 Bowl Stack",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00071 Bowl Stack",
+        "part_name": "D00071 Bowl Stack"
+      },
+      "volume": 0.00016666666915019353
+    },
+    {
+      "bounds": {
+        "center": [
+          0.002662154265902661,
+          -0.0006934683804120031,
+          0.06898865036427387
+        ],
+        "max": [
+          0.08290497785278553,
+          0.07835118285885455,
+          0.09737093693408896
+        ],
+        "min": [
+          -0.0775806693209802,
+          -0.07973811961967855,
+          0.04060636379445879
+        ]
+      },
+      "center_of_mass": [
+        -0.00026217757840640843,
+        0.0002267539530294016,
+        0.021993238478899002
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_02",
+      "inertia": [
+        0.00040682347025722265,
+        0.0004109967267140746,
+        0.0006847220356576145
+      ],
+      "mass": 0.4,
+      "material": "ceramic",
+      "name": "D00071 Bowl Stack",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00071 Bowl Stack",
+        "part_name": "D00071 Bowl Stack"
+      },
+      "volume": 0.00016666666915019353
+    },
+    {
+      "bounds": {
+        "center": [
+          -0.0007020401091839684,
+          0.0007240417216529058,
+          0.09120232598697248
+        ],
+        "max": [
+          0.07625304912320773,
+          0.07817557587546535,
+          0.11619513555238112
+        ],
+        "min": [
+          -0.07765712934157566,
+          -0.07672749243215954,
+          0.06620951642156382
+        ]
+      },
+      "center_of_mass": [
+        -0.00026217757840640843,
+        0.0002267539530294016,
+        0.021993238478899002
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_03",
+      "inertia": [
+        0.00040682347025722265,
+        0.0004109967267140746,
+        0.0006847220356576145
+      ],
+      "mass": 0.4,
+      "material": "ceramic",
+      "name": "D00071 Bowl Stack",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00071 Bowl Stack",
+        "part_name": "D00071 Bowl Stack"
+      },
+      "volume": 0.00016666666915019353
+    },
+    {
+      "bounds": {
+        "center": [
+          0.0027393502024173552,
+          0.006416195093767563,
+          0.11553450991770178
+        ],
+        "max": [
+          0.07756360918658486,
+          0.08328066695697904,
+          0.15472467545782118
+        ],
+        "min": [
+          -0.07208490878175015,
+          -0.07044827676944392,
+          0.07634434437758238
+        ]
+      },
+      "center_of_mass": [
+        -0.00026217757840640843,
+        0.0002267539530294016,
+        0.021993238478899002
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_04",
+      "inertia": [
+        0.00040682347025722265,
+        0.0004109967267140746,
+        0.0006847220356576145
+      ],
+      "mass": 0.4,
+      "material": "ceramic",
+      "name": "D00071 Bowl Stack",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00071 Bowl Stack",
+        "part_name": "D00071 Bowl Stack"
+      },
+      "volume": 0.00016666666915019353
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.16148711896567614,
+        0.16301878657665758,
+        0.15411755837862282
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 2.0
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 5
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00107 Canister Mug/IsaacSim_assets_6a6ff759cb2d3efc65d9aed9/physics_6a6ff759cb2d3efc65d9aed9.json b/batch19/D00107 Canister Mug/IsaacSim_assets_6a6ff759cb2d3efc65d9aed9/physics_6a6ff759cb2d3efc65d9aed9.json
new file mode 100644
index 0000000000000000000000000000000000000000..364f020fd9a173c65a3d6967f1309c7ee0b6641c
--- /dev/null
+++ b/batch19/D00107 Canister Mug/IsaacSim_assets_6a6ff759cb2d3efc65d9aed9/physics_6a6ff759cb2d3efc65d9aed9.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.04723700135946274,
+        0.0497249998152256,
+        0.10333184152841568
+      ],
+      "min": [
+        -0.040445998311042786,
+        -0.06562799960374832,
+        0.0004878400650341064
+      ],
+      "size": [
+        0.08768299967050552,
+        0.11535299941897392,
+        0.10284400146338157
+      ]
+    },
+    "description": "D00107 Canister Mug",
+    "name": "D00107 Canister Mug",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.35
+  },
+  "asset_id": "D00107",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.003395501524209976,
+          -0.00795149989426136,
+          0.05190984079672489
+        ],
+        "max": [
+          0.04723700135946274,
+          0.0497249998152256,
+          0.10333184152841568
+        ],
+        "min": [
+          -0.040445998311042786,
+          -0.06562799960374832,
+          0.0004878400650341064
+        ]
+      },
+      "center_of_mass": [
+        0.0022080871276557446,
+        0.0033807530999183655,
+        0.04304217919707298
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.0005674766143783927,
+        0.0005988359916955233,
+        0.0006834631785750389
+      ],
+      "mass": 0.35,
+      "material": "ceramic",
+      "name": "D00107 Canister Mug",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00107 Canister Mug",
+        "part_name": "D00107 Canister Mug"
+      },
+      "volume": 0.00014583333084980648
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.08768299967050552,
+        0.11535299941897392,
+        0.10284400146338157
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.35
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00117 Ceramic Mug/IsaacSim_assets_6a6ffbe9cb2d3efc65da1bb0/physics_6a6ffbe9cb2d3efc65da1bb0.json b/batch19/D00117 Ceramic Mug/IsaacSim_assets_6a6ffbe9cb2d3efc65da1bb0/physics_6a6ffbe9cb2d3efc65da1bb0.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a269a2f4cb4d4971adfffe3c36a9d27e17157d
--- /dev/null
+++ b/batch19/D00117 Ceramic Mug/IsaacSim_assets_6a6ffbe9cb2d3efc65da1bb0/physics_6a6ffbe9cb2d3efc65da1bb0.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.057757001370191574,
+        0.034602999687194824,
+        0.07994621247053146
+      ],
+      "min": [
+        -0.041032999753952026,
+        -0.034728001803159714,
+        0.00038320981548167765
+      ],
+      "size": [
+        0.0987900011241436,
+        0.06933100149035454,
+        0.07956300265504979
+      ]
+    },
+    "description": "D00117 Ceramic Mug",
+    "name": "D00117 Ceramic Mug",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.35
+  },
+  "asset_id": "D00117",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.008362000808119774,
+          -6.250105798244476e-05,
+          0.04016471114300657
+        ],
+        "max": [
+          0.057757001370191574,
+          0.034602999687194824,
+          0.07994621247053146
+        ],
+        "min": [
+          -0.041032999753952026,
+          -0.034728001803159714,
+          0.00038320981548167765
+        ]
+      },
+      "center_of_mass": [
+        -0.002576373517513275,
+        -0.00021285963885020465,
+        0.03585812449455261
+      ],
+      "collision": {},
+      "density": 2200.0,
+      "id": "part_00",
+      "inertia": [
+        0.00035034690517932177,
+        0.0003799473342951387,
+        0.0004234470543451607
+      ],
+      "mass": 0.35,
+      "material": "ceramic",
+      "name": "D00117 Ceramic Mug",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00117 Ceramic Mug",
+        "part_name": "D00117 Ceramic Mug"
+      },
+      "volume": 0.00015909090638160705
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.0987900011241436,
+        0.06933100149035454,
+        0.07956300265504979
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.35
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00120 Cereal Box/IsaacSim_assets_6a6ffce9cb2d3efc65da374c/physics_6a6ffce9cb2d3efc65da374c.json b/batch19/D00120 Cereal Box/IsaacSim_assets_6a6ffce9cb2d3efc65da374c/physics_6a6ffce9cb2d3efc65da374c.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f4b80a8662acae56a1f7f4a4710fc2ac013c35b
--- /dev/null
+++ b/batch19/D00120 Cereal Box/IsaacSim_assets_6a6ffce9cb2d3efc65da374c/physics_6a6ffce9cb2d3efc65da374c.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.04425999894738197,
+        0.10107699781656265,
+        0.29569897055625916
+      ],
+      "min": [
+        -0.043125998228788376,
+        -0.10032899677753448,
+        0.0012829701881855726
+      ],
+      "size": [
+        0.08738599717617035,
+        0.20140599459409714,
+        0.2944160003680736
+      ]
+    },
+    "description": "D00120 Cereal Box",
+    "name": "D00120 Cereal Box",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.55
+  },
+  "asset_id": "D00120",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0005670003592967987,
+          0.00037400051951408386,
+          0.14849097037222236
+        ],
+        "max": [
+          0.04425999894738197,
+          0.10107699781656265,
+          0.29569897055625916
+        ],
+        "min": [
+          -0.043125998228788376,
+          -0.10032899677753448,
+          0.0012829701881855726
+        ]
+      },
+      "center_of_mass": [
+        0.0005701715126633644,
+        0.0003797156095970422,
+        0.14797118306159973
+      ],
+      "collision": {},
+      "density": 131.0,
+      "id": "part_00",
+      "inertia": [
+        0.002204674994572997,
+        0.004282454028725624,
+        0.005790831055492163
+      ],
+      "mass": 0.55,
+      "material": "generic",
+      "name": "D00120 Cereal Box",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00120 Cereal Box",
+        "part_name": "D00120 Cereal Box"
+      },
+      "volume": 0.004198473373442205
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.08738599717617035,
+        0.20140599459409714,
+        0.2944160003680736
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.55
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00128 Chop/IsaacSim_assets_6a7002becb2d3efc65dac0bb/physics_6a7002becb2d3efc65dac0bb.json b/batch19/D00128 Chop/IsaacSim_assets_6a7002becb2d3efc65dac0bb/physics_6a7002becb2d3efc65dac0bb.json
new file mode 100644
index 0000000000000000000000000000000000000000..f53f364c637e48b66fa91dc23fc60305afed585b
--- /dev/null
+++ b/batch19/D00128 Chop/IsaacSim_assets_6a7002becb2d3efc65dac0bb/physics_6a7002becb2d3efc65dac0bb.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.06099100038409233,
+        0.039524998515844345,
+        0.014440549537539482
+      ],
+      "min": [
+        -0.04958600178360939,
+        -0.03425399959087372,
+        0.0005045502912253141
+      ],
+      "size": [
+        0.11057700216770172,
+        0.07377899810671806,
+        0.013935999246314168
+      ]
+    },
+    "description": "D00128 Chop",
+    "name": "D00128 Chop",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.124
+  },
+  "asset_id": "D00128",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00570249930024147,
+          0.0026354994624853134,
+          0.007472549914382398
+        ],
+        "max": [
+          0.06099100038409233,
+          0.039524998515844345,
+          0.014440549537539482
+        ],
+        "min": [
+          -0.04958600178360939,
+          -0.03425399959087372,
+          0.0005045502912253141
+        ]
+      },
+      "center_of_mass": [
+        0.0018203763756901026,
+        0.0016513597220182419,
+        0.007160530891269445
+      ],
+      "collision": {},
+      "density": 1050.0,
+      "id": "part_00",
+      "inertia": [
+        4.110496956855059e-05,
+        9.146281809080392e-05,
+        0.00012895921827293932
+      ],
+      "mass": 0.124,
+      "material": "plastic",
+      "name": "D00128 Chop",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00128 Chop",
+        "part_name": "D00128 Chop"
+      },
+      "volume": 0.00011809523616518294
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.11057700216770172,
+        0.07377899810671806,
+        0.013935999246314168
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.124
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00135 Citrus/IsaacSim_assets_6a701420cb2d3efc65dc55d1/physics_6a701420cb2d3efc65dc55d1.json b/batch19/D00135 Citrus/IsaacSim_assets_6a701420cb2d3efc65dc55d1/physics_6a701420cb2d3efc65dc55d1.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa099d479fa31f9ff30ed0d0e4ccc5c9527b1eb4
--- /dev/null
+++ b/batch19/D00135 Citrus/IsaacSim_assets_6a701420cb2d3efc65dc55d1/physics_6a701420cb2d3efc65dc55d1.json	
@@ -0,0 +1,153 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.026094000786542892,
+        0.026321999728679657,
+        0.05093799903988838
+      ],
+      "min": [
+        -0.025074999779462814,
+        -0.02472499944269657,
+        1.4000000192027073e-05
+      ],
+      "size": [
+        0.05116900056600571,
+        0.05104699917137623,
+        0.050923999039696355
+      ]
+    },
+    "description": "D00135 Citrus",
+    "name": "D00135 Citrus",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.151
+  },
+  "asset_id": "D00135",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0005095005035400391,
+          0.0007985001429915428,
+          0.025475999520040205
+        ],
+        "max": [
+          0.026094000786542892,
+          0.026321999728679657,
+          0.05093799903988838
+        ],
+        "min": [
+          -0.025074999779462814,
+          -0.02472499944269657,
+          1.4000000192027073e-05
+        ]
+      },
+      "center_of_mass": [
+        0.0005128915654495358,
+        0.000910411006771028,
+        0.02553601562976837
+      ],
+      "collision": {},
+      "density": 950.0,
+      "id": "part_00",
+      "inertia": [
+        3.8311045500449836e-05,
+        3.877980634570122e-05,
+        3.90239802072756e-05
+      ],
+      "mass": 0.15,
+      "material": "plastic",
+      "name": "D00135 Citrus",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00135 Citrus",
+        "part_name": "D00135 Citrus"
+      },
+      "volume": 0.0001578947431162784
+    },
+    {
+      "bounds": {
+        "center": [
+          -0.011020499747246504,
+          -0.018952500075101852,
+          0.027903500944375992
+        ],
+        "max": [
+          -0.008666999638080597,
+          -0.016707999631762505,
+          0.03138900175690651
+        ],
+        "min": [
+          -0.01337399985641241,
+          -0.0211970005184412,
+          0.024418000131845474
+        ]
+      },
+      "center_of_mass": [
+        -0.011377519927918911,
+        -0.01936441846191883,
+        0.02768661640584469
+      ],
+      "collision": {},
+      "density": 400.0,
+      "id": "part_01",
+      "inertia": [
+        2.249721520186654e-09,
+        2.371443930115902e-09,
+        3.767550715849666e-09
+      ],
+      "mass": 0.001,
+      "material": "foam",
+      "name": "D00135 Citrus",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00135 Citrus",
+        "part_name": "D00135 Citrus"
+      },
+      "volume": 2.5000001187436284e-06
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.05116900056600571,
+        0.05104699917137623,
+        0.050923999039696355
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.151
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 2
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00146 Coaster Board/IsaacSim_assets_6a7012eccb2d3efc65dc3ab0/physics_6a7012eccb2d3efc65dc3ab0.json b/batch19/D00146 Coaster Board/IsaacSim_assets_6a7012eccb2d3efc65dc3ab0/physics_6a7012eccb2d3efc65dc3ab0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bd7698f6ff120809a32c54cdeb45f6ad5f04535
--- /dev/null
+++ b/batch19/D00146 Coaster Board/IsaacSim_assets_6a7012eccb2d3efc65dc3ab0/physics_6a7012eccb2d3efc65dc3ab0.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.04988100007176399,
+        0.04979100078344345,
+        0.01926383003592491
+      ],
+      "min": [
+        -0.04947299882769585,
+        -0.04958200082182884,
+        0.0004578299995046109
+      ],
+      "size": [
+        0.09935399889945984,
+        0.0993730016052723,
+        0.0188060000364203
+      ]
+    },
+    "description": "D00146 Coaster Board",
+    "name": "D00146 Coaster Board",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.07
+  },
+  "asset_id": "D00146",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00020400062203407288,
+          0.00010449998080730438,
+          0.009860830017714761
+        ],
+        "max": [
+          0.04988100007176399,
+          0.04979100078344345,
+          0.01926383003592491
+        ],
+        "min": [
+          -0.04947299882769585,
+          -0.04958200082182884,
+          0.0004578299995046109
+        ]
+      },
+      "center_of_mass": [
+        0.00020833805319853127,
+        0.00011439681111369282,
+        0.00985037162899971
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        5.706702722818591e-05,
+        5.712240090360865e-05,
+        0.00011029401503037661
+      ],
+      "mass": 0.07,
+      "material": "wood",
+      "name": "D00146 Coaster Board",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00146 Coaster Board",
+        "part_name": "D00146 Coaster Board"
+      },
+      "volume": 0.00010000000042574747
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.09935399889945984,
+        0.0993730016052723,
+        0.0188060000364203
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.07
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00148 Coffee Beans/IsaacSim_assets_6a701488cb2d3efc65dc611a/physics_6a701488cb2d3efc65dc611a.json b/batch19/D00148 Coffee Beans/IsaacSim_assets_6a701488cb2d3efc65dc611a/physics_6a701488cb2d3efc65dc611a.json
new file mode 100644
index 0000000000000000000000000000000000000000..628f2b7ddb3422865a51ecc08f1cc90f0626c3dc
--- /dev/null
+++ b/batch19/D00148 Coffee Beans/IsaacSim_assets_6a701488cb2d3efc65dc611a/physics_6a701488cb2d3efc65dc611a.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.0038689998909831047,
+        0.0031129999551922083,
+        0.004229709971696138
+      ],
+      "min": [
+        -0.0042929998598992825,
+        -0.0030380000825971365,
+        3.1710042094346136e-05
+      ],
+      "size": [
+        0.008161999750882387,
+        0.006151000037789345,
+        0.004197999929601792
+      ]
+    },
+    "description": "D00148 Coffee Beans",
+    "name": "D00148 Coffee Beans",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.00013
+  },
+  "asset_id": "D00148",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00021199998445808887,
+          3.7499936297535896e-05,
+          0.0021307100068952423
+        ],
+        "max": [
+          0.0038689998909831047,
+          0.0031129999551922083,
+          0.004229709971696138
+        ],
+        "min": [
+          -0.0042929998598992825,
+          -0.0030380000825971365,
+          3.1710042094346136e-05
+        ]
+      },
+      "center_of_mass": [
+        -7.873724825913087e-05,
+        0.00012326672731433064,
+        0.0020086835138499737
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        3.805511461507649e-10,
+        5.749273834787516e-10,
+        7.281702463224349e-10
+      ],
+      "mass": 0.00013,
+      "material": "wood",
+      "name": "D00148 Coffee Beans",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00148 Coffee Beans",
+        "part_name": "D00148 Coffee Beans"
+      },
+      "volume": 1.8571428621986082e-07
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.008161999750882387,
+        0.006151000037789345,
+        0.004197999929601792
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.00013
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00149 Coffee Cup/IsaacSim_assets_69f20a2959057a93105b012d/physics_69f20a2959057a93105b012d.json b/batch19/D00149 Coffee Cup/IsaacSim_assets_69f20a2959057a93105b012d/physics_69f20a2959057a93105b012d.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a9eb8ba4e3e527436ad615bfc6f7af5cdac92a7
--- /dev/null
+++ b/batch19/D00149 Coffee Cup/IsaacSim_assets_69f20a2959057a93105b012d/physics_69f20a2959057a93105b012d.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.06049799919128418,
+        0.041120998561382294,
+        0.0607450008392334
+      ],
+      "min": [
+        -0.04671600088477135,
+        -0.040828000754117966,
+        -9.999999974752427e-07
+      ],
+      "size": [
+        0.10721400007605553,
+        0.08194899931550026,
+        0.060746000839230874
+      ]
+    },
+    "description": "A white glazed ceramic mug with a rounded cup body, thick rim, small foot, and curved loop handle.",
+    "name": "D00149 Coffee Cup",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.34
+  },
+  "asset_id": "D00149",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.002355784908340886,
+          6.579035765484724e-05,
+          0.0301593576919342
+        ],
+        "max": [
+          0.06049799919128418,
+          0.041120998561382294,
+          0.0607450008392334
+        ],
+        "min": [
+          -0.04671600088477135,
+          -0.040828000754117966,
+          -9.999999974752427e-07
+        ]
+      },
+      "center_of_mass": [
+        -0.0024584803528074728,
+        0.0002250707103055558,
+        0.029210223295607726
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.00029761362983851084,
+        0.00035184359585124726,
+        0.00042171611587313226
+      ],
+      "mass": 0.34,
+      "material": "glazed_ceramic",
+      "name": "D00149 Coffee Cup",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00149 Coffee Cup",
+        "part_name": "D00149 Coffee Cup"
+      },
+      "volume": 6.539823224370167e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.10721400007605553,
+        0.08194899931550026,
+        0.060746000839230874
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.34
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00160 Coffee Mug/IsaacSim_assets_69fef61ff3726e6ad05387d4/physics_69fef61ff3726e6ad05387d4.json b/batch19/D00160 Coffee Mug/IsaacSim_assets_69fef61ff3726e6ad05387d4/physics_69fef61ff3726e6ad05387d4.json
new file mode 100644
index 0000000000000000000000000000000000000000..111bd2825f046bac05907604ced8877b50787af7
--- /dev/null
+++ b/batch19/D00160 Coffee Mug/IsaacSim_assets_69fef61ff3726e6ad05387d4/physics_69fef61ff3726e6ad05387d4.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.057092998176813126,
+        0.033643998205661774,
+        0.08023593574762344
+      ],
+      "min": [
+        -0.03965200111269951,
+        -0.03414300084114075,
+        0.0004639301332645118
+      ],
+      "size": [
+        0.09674499928951263,
+        0.06778699904680252,
+        0.07977200561435893
+      ]
+    },
+    "description": "A glossy off-white ceramic mug with a cylindrical body, rounded rim, and large loop handle. The surface appears smooth and glazed with slightly rounded ceramic edges.",
+    "name": "D00160 Coffee Mug",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.34
+  },
+  "asset_id": "D00160",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.008720498532056808,
+          -0.0002495013177394867,
+          0.04034993294044398
+        ],
+        "max": [
+          0.057092998176813126,
+          0.033643998205661774,
+          0.08023593574762344
+        ],
+        "min": [
+          -0.03965200111269951,
+          -0.03414300084114075,
+          0.0004639301332645118
+        ]
+      },
+      "center_of_mass": [
+        -0.0024034548581181084,
+        -0.0004731500094126823,
+        0.035431745587682965
+      ],
+      "collision": {},
+      "density": 2300.0,
+      "id": "part_00",
+      "inertia": [
+        0.00033922956047214745,
+        0.0003487068673065038,
+        0.0003972053901795001
+      ],
+      "mass": 0.34,
+      "material": "glazed_ceramic",
+      "name": "D00160 Coffee Mug",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00160 Coffee Mug",
+        "part_name": "D00160 Coffee Mug"
+      },
+      "volume": 7.842895519260514e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.09674499928951263,
+        0.06778699904680252,
+        0.07977200561435893
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.34
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00323 Fruit Basket/IsaacSim_assets_6a7049eacb2d3efc65e3f7dd/physics_6a7049eacb2d3efc65e3f7dd.json b/batch19/D00323 Fruit Basket/IsaacSim_assets_6a7049eacb2d3efc65e3f7dd/physics_6a7049eacb2d3efc65e3f7dd.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee6204182dd9d0860b67fefebc1bc4d8148a5294
--- /dev/null
+++ b/batch19/D00323 Fruit Basket/IsaacSim_assets_6a7049eacb2d3efc65e3f7dd/physics_6a7049eacb2d3efc65e3f7dd.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.14158299565315247,
+        0.143435999751091,
+        0.12560702860355377
+      ],
+      "min": [
+        -0.14181500673294067,
+        -0.13959799706935883,
+        0.001142029999755323
+      ],
+      "size": [
+        0.28339800238609314,
+        0.28303399682044983,
+        0.12446499860379845
+      ]
+    },
+    "description": "D00323 Fruit Basket",
+    "name": "D00323 Fruit Basket",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.34
+  },
+  "asset_id": "D00323",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.000116005539894104,
+          0.0019190013408660889,
+          0.06337452930165455
+        ],
+        "max": [
+          0.14158299565315247,
+          0.143435999751091,
+          0.12560702860355377
+        ],
+        "min": [
+          -0.14181500673294067,
+          -0.13959799706935883,
+          0.001142029999755323
+        ]
+      },
+      "center_of_mass": [
+        9.648080595070496e-05,
+        -0.0013571383897215128,
+        0.05768631026148796
+      ],
+      "collision": {},
+      "density": 500.0,
+      "id": "part_00",
+      "inertia": [
+        0.0016936485189944506,
+        0.001978563377633691,
+        0.0029958486557006836
+      ],
+      "mass": 0.34,
+      "material": "wood",
+      "name": "D00323 Fruit Basket",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00323 Fruit Basket",
+        "part_name": "D00323 Fruit Basket"
+      },
+      "volume": 0.0006800000071525573
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.28339800238609314,
+        0.28303399682044983,
+        0.12446499860379845
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.34
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00358 Glass Pitcher/IsaacSim_assets_6a7048efcb2d3efc65e3c190/physics_6a7048efcb2d3efc65e3c190.json b/batch19/D00358 Glass Pitcher/IsaacSim_assets_6a7048efcb2d3efc65e3c190/physics_6a7048efcb2d3efc65e3c190.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2c5ff894bf1d18607934fe61a98374fee585c98
--- /dev/null
+++ b/batch19/D00358 Glass Pitcher/IsaacSim_assets_6a7048efcb2d3efc65e3c190/physics_6a7048efcb2d3efc65e3c190.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.0787070021033287,
+        0.05310399830341339,
+        0.14561690390110016
+      ],
+      "min": [
+        -0.05741500109434128,
+        -0.05309600010514259,
+        0.0005069000762887299
+      ],
+      "size": [
+        0.13612200319766998,
+        0.10619999840855598,
+        0.14511000382481143
+      ]
+    },
+    "description": "D00358 Glass Pitcher",
+    "name": "D00358 Glass Pitcher",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.2
+  },
+  "asset_id": "D00358",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.010646000504493713,
+          3.999099135398865e-06,
+          0.07306190198869444
+        ],
+        "max": [
+          0.0787070021033287,
+          0.05310399830341339,
+          0.14561690390110016
+        ],
+        "min": [
+          -0.05741500109434128,
+          -0.05309600010514259,
+          0.0005069000762887299
+        ]
+      },
+      "center_of_mass": [
+        0.00470319390296936,
+        -1.521094782219734e-05,
+        0.06800488382577896
+      ],
+      "collision": {},
+      "density": 2500.0,
+      "id": "part_00",
+      "inertia": [
+        0.0023816763423383236,
+        0.002964238403365016,
+        0.00355226150713861
+      ],
+      "mass": 1.2,
+      "material": "ceramic",
+      "name": "D00358 Glass Pitcher",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00358 Glass Pitcher",
+        "part_name": "D00358 Glass Pitcher"
+      },
+      "volume": 0.00048000001907348635
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.13612200319766998,
+        0.10619999840855598,
+        0.14511000382481143
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.2
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00360 Glass Vase/IsaacSim_assets_6a71a48acdde3c1658d1ea3c/physics_6a71a48acdde3c1658d1ea3c.json b/batch19/D00360 Glass Vase/IsaacSim_assets_6a71a48acdde3c1658d1ea3c/physics_6a71a48acdde3c1658d1ea3c.json
new file mode 100644
index 0000000000000000000000000000000000000000..214e47ce419226dde68e6f7af93bc02b90595ac7
--- /dev/null
+++ b/batch19/D00360 Glass Vase/IsaacSim_assets_6a71a48acdde3c1658d1ea3c/physics_6a71a48acdde3c1658d1ea3c.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.06492881,
+        0.26053867,
+        0.06563888
+      ],
+      "min": [
+        -0.06563334,
+        0.0,
+        -0.06592387
+      ],
+      "size": [
+        0.13056215,
+        0.26053867,
+        0.13156275
+      ]
+    },
+    "description": "A clear glass vase with a flared rim, a tapered waist, and a slightly thickened base.",
+    "name": "specialist-current",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.0
+  },
+  "asset_id": "D00360",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.000349445582505696,
+          0.11475269009638862,
+          -0.00013523745900743318
+        ],
+        "max": [
+          0.06492881,
+          0.26053867,
+          0.06563888
+        ],
+        "min": [
+          -0.06563334,
+          0.0,
+          -0.06592387
+        ]
+      },
+      "center_of_mass": [
+        -0.0003377664749264008,
+        0.00016014195691272138,
+        0.13022878841670102
+      ],
+      "collision": {},
+      "density": 2500.0,
+      "id": "part_00",
+      "inertia": [
+        0.0021463725429500917,
+        0.006709716834542962,
+        0.006723857398018883
+      ],
+      "mass": 1.0,
+      "material": "glass",
+      "name": "specialist-current",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "specialist-current",
+        "part_name": "specialist-current"
+      },
+      "volume": 0.0035128781832924703
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.13056215,
+        0.26053867,
+        0.13156275
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.0
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00374 Hand Soap/IsaacSim_assets_6a71a52acdde3c1658d24cd2/physics_6a71a52acdde3c1658d24cd2.json b/batch19/D00374 Hand Soap/IsaacSim_assets_6a71a52acdde3c1658d24cd2/physics_6a71a52acdde3c1658d24cd2.json
new file mode 100644
index 0000000000000000000000000000000000000000..83c06a655e884c5b0d31384c3ca0b3575b986e6b
--- /dev/null
+++ b/batch19/D00374 Hand Soap/IsaacSim_assets_6a71a52acdde3c1658d24cd2/physics_6a71a52acdde3c1658d24cd2.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.04078091,
+        0.19985424,
+        0.03913865
+      ],
+      "min": [
+        -0.05225241,
+        0.0,
+        -0.04012851
+      ],
+      "size": [
+        0.09303332,
+        0.19985424,
+        0.07926716
+      ]
+    },
+    "description": "A cylindrical white bottle with a black pump dispenser and minimalistic text.",
+    "name": "specialist-current",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.45
+  },
+  "asset_id": "D00374",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0004855194356617759,
+          0.08198181681516341,
+          -0.000462154114980649
+        ],
+        "max": [
+          0.04078091,
+          0.19985424,
+          0.03913865
+        ],
+        "min": [
+          -0.05225241,
+          0.0,
+          -0.04012851
+        ]
+      },
+      "center_of_mass": [
+        -0.0014834224812850503,
+        0.00047416459966329304,
+        0.08700125024633795
+      ],
+      "collision": {},
+      "density": 1100.0,
+      "id": "part_00",
+      "inertia": [
+        0.0003439806895646209,
+        0.0013330065746794317,
+        0.0013668502328859718
+      ],
+      "mass": 0.45,
+      "material": "plastic",
+      "name": "specialist-current",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "specialist-current",
+        "part_name": "specialist-current"
+      },
+      "volume": 0.0008650480793631138
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.09303332,
+        0.19985424,
+        0.07926716
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.45
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00376 Herb Basket/IsaacSim_assets_6a704737cb2d3efc65e35cc7/physics_6a704737cb2d3efc65e35cc7.json b/batch19/D00376 Herb Basket/IsaacSim_assets_6a704737cb2d3efc65e35cc7/physics_6a704737cb2d3efc65e35cc7.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b1954dca9049dab3c1dc6211590adf39a9d2243
--- /dev/null
+++ b/batch19/D00376 Herb Basket/IsaacSim_assets_6a704737cb2d3efc65e35cc7/physics_6a704737cb2d3efc65e35cc7.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.12365200370550156,
+        0.09708400070667267,
+        0.22604498267173767
+      ],
+      "min": [
+        -0.12388700246810913,
+        -0.09687799960374832,
+        0.0005789920687675476
+      ],
+      "size": [
+        0.2475390061736107,
+        0.193962000310421,
+        0.22546599060297012
+      ]
+    },
+    "description": "D00376 Herb Basket",
+    "name": "D00376 Herb Basket",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.34
+  },
+  "asset_id": "D00376",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00011749938130378723,
+          0.00010300055146217346,
+          0.11331198737025261
+        ],
+        "max": [
+          0.12365200370550156,
+          0.09708400070667267,
+          0.22604498267173767
+        ],
+        "min": [
+          -0.12388700246810913,
+          -0.09687799960374832,
+          0.0005789920687675476
+        ]
+      },
+      "center_of_mass": [
+        -8.311333658639342e-05,
+        0.00012589379912242293,
+        0.08467278629541397
+      ],
+      "collision": {},
+      "density": 500.0,
+      "id": "part_00",
+      "inertia": [
+        0.001758340047672391,
+        0.002335339318960905,
+        0.002434713998809457
+      ],
+      "mass": 0.34,
+      "material": "wood",
+      "name": "D00376 Herb Basket",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00376 Herb Basket",
+        "part_name": "D00376 Herb Basket"
+      },
+      "volume": 0.0006800000071525573
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.2475390061736107,
+        0.193962000310421,
+        0.22546599060297012
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.34
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00380 His Spoon/IsaacSim_assets_6a7046ebcb2d3efc65e34869/physics_6a7046ebcb2d3efc65e34869.json b/batch19/D00380 His Spoon/IsaacSim_assets_6a7046ebcb2d3efc65e34869/physics_6a7046ebcb2d3efc65e34869.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ceb814ec2b0ee95f206e80f53996f2fab60883
--- /dev/null
+++ b/batch19/D00380 His Spoon/IsaacSim_assets_6a7046ebcb2d3efc65e34869/physics_6a7046ebcb2d3efc65e34869.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.11333999782800674,
+        0.02330699935555458,
+        0.016619890928268433
+      ],
+      "min": [
+        -0.06358099728822708,
+        -0.023155000060796738,
+        0.0005888900486752391
+      ],
+      "size": [
+        0.17692099511623383,
+        0.04646199941635132,
+        0.016031000879593194
+      ]
+    },
+    "description": "D00380 His Spoon",
+    "name": "D00380 His Spoon",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.0938
+  },
+  "asset_id": "D00380",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.02487950026988983,
+          7.599964737892151e-05,
+          0.008604390488471836
+        ],
+        "max": [
+          0.11333999782800674,
+          0.02330699935555458,
+          0.016619890928268433
+        ],
+        "min": [
+          -0.06358099728822708,
+          -0.023155000060796738,
+          0.0005888900486752391
+        ]
+      },
+      "center_of_mass": [
+        0.006988654378801584,
+        7.973337778821588e-05,
+        0.008300106972455978
+      ],
+      "collision": {},
+      "density": 7900.0,
+      "id": "part_00",
+      "inertia": [
+        8.399594662478194e-06,
+        0.0001547798456158489,
+        0.00016148788563441485
+      ],
+      "mass": 0.0938,
+      "material": "metal",
+      "name": "D00380 His Spoon",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00380 His Spoon",
+        "part_name": "D00380 His Spoon"
+      },
+      "volume": 1.1873417828656451e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.17692099511623383,
+        0.04646199941635132,
+        0.016031000879593194
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.0938
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00388 Ing Pan/IsaacSim_assets_6a7045e3cb2d3efc65e2fd8c/physics_6a7045e3cb2d3efc65e2fd8c.json b/batch19/D00388 Ing Pan/IsaacSim_assets_6a7045e3cb2d3efc65e2fd8c/physics_6a7045e3cb2d3efc65e2fd8c.json
new file mode 100644
index 0000000000000000000000000000000000000000..f35c05d35dc8e788cf181d68f83d0748ac9aedad
--- /dev/null
+++ b/batch19/D00388 Ing Pan/IsaacSim_assets_6a7045e3cb2d3efc65e2fd8c/physics_6a7045e3cb2d3efc65e2fd8c.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.2674010097980499,
+        0.12637099623680115,
+        0.07506803423166275
+      ],
+      "min": [
+        -0.15909099578857422,
+        -0.12565399706363678,
+        0.001324030221439898
+      ],
+      "size": [
+        0.42649200558662415,
+        0.2520249933004379,
+        0.07374400401022285
+      ]
+    },
+    "description": "D00388 Ing Pan",
+    "name": "D00388 Ing Pan",
+    "object_type": "rigid_bodies",
+    "total_mass": 2.0
+  },
+  "asset_id": "D00388",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.054155007004737854,
+          0.00035849958658218384,
+          0.038196032226551324
+        ],
+        "max": [
+          0.2674010097980499,
+          0.12637099623680115,
+          0.07506803423166275
+        ],
+        "min": [
+          -0.15909099578857422,
+          -0.12565399706363678,
+          0.001324030221439898
+        ]
+      },
+      "center_of_mass": [
+        0.01259550079703331,
+        0.000356679898686707,
+        0.035242483019828796
+      ],
+      "collision": {},
+      "density": 7900.0,
+      "id": "part_00",
+      "inertia": [
+        0.006155147682875395,
+        0.01678570732474327,
+        0.02196653187274933
+      ],
+      "mass": 2.0,
+      "material": "metal",
+      "name": "D00388 Ing Pan",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00388 Ing Pan",
+        "part_name": "D00388 Ing Pan"
+      },
+      "volume": 0.00025316455696202533
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.42649200558662415,
+        0.2520249933004379,
+        0.07374400401022285
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 2.0
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00400 Jar Cup/IsaacSim_assets_6a7043dfcb2d3efc65e2857b/physics_6a7043dfcb2d3efc65e2857b.json b/batch19/D00400 Jar Cup/IsaacSim_assets_6a7043dfcb2d3efc65e2857b/physics_6a7043dfcb2d3efc65e2857b.json
new file mode 100644
index 0000000000000000000000000000000000000000..d10c1351bbe95073d9fb1367860fc188df9ff27a
--- /dev/null
+++ b/batch19/D00400 Jar Cup/IsaacSim_assets_6a7043dfcb2d3efc65e2857b/physics_6a7043dfcb2d3efc65e2857b.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.06051100045442581,
+        0.038417998701334,
+        0.09349161386489868
+      ],
+      "min": [
+        -0.04500399902462959,
+        -0.03849999979138374,
+        0.00033561003510840237
+      ],
+      "size": [
+        0.1055149994790554,
+        0.07691799849271774,
+        0.09315600382979028
+      ]
+    },
+    "description": "D00400 Jar Cup",
+    "name": "D00400 Jar Cup",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.4
+  },
+  "asset_id": "D00400",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0077535007148981094,
+          -4.1000545024871826e-05,
+          0.04691361195000354
+        ],
+        "max": [
+          0.06051100045442581,
+          0.038417998701334,
+          0.09349161386489868
+        ],
+        "min": [
+          -0.04500399902462959,
+          -0.03849999979138374,
+          0.00033561003510840237
+        ]
+      },
+      "center_of_mass": [
+        -0.002409256063401699,
+        -0.00016687740571796894,
+        0.03728767856955528
+      ],
+      "collision": {},
+      "density": 2500.0,
+      "id": "part_00",
+      "inertia": [
+        0.0005203436594456434,
+        0.0005465182475745678,
+        0.0006285227718763053
+      ],
+      "mass": 0.4,
+      "material": "ceramic",
+      "name": "D00400 Jar Cup",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00400 Jar Cup",
+        "part_name": "D00400 Jar Cup"
+      },
+      "volume": 0.0001600000023841858
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.1055149994790554,
+        0.07691799849271774,
+        0.09315600382979028
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.4
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00419 Jug/IsaacSim_assets_6a6c3d08cb2d3efc65b84f5a/physics_6a6c3d08cb2d3efc65b84f5a.json b/batch19/D00419 Jug/IsaacSim_assets_6a6c3d08cb2d3efc65b84f5a/physics_6a6c3d08cb2d3efc65b84f5a.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0375f281dced8f05e5081994ad52d3b7a226e75
--- /dev/null
+++ b/batch19/D00419 Jug/IsaacSim_assets_6a6c3d08cb2d3efc65b84f5a/physics_6a6c3d08cb2d3efc65b84f5a.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.05654500052332878,
+        0.052053000777959824,
+        0.13858498632907867
+      ],
+      "min": [
+        -0.0764629989862442,
+        -0.0520239993929863,
+        0.0005109800840727985
+      ],
+      "size": [
+        0.13300799950957298,
+        0.10407700017094612,
+        0.13807400624500588
+      ]
+    },
+    "description": "D00419 Jug",
+    "name": "D00419 Jug",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.5
+  },
+  "asset_id": "D00419",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00995899923145771,
+          1.4500692486763e-05,
+          0.06954798320657574
+        ],
+        "max": [
+          0.05654500052332878,
+          0.052053000777959824,
+          0.13858498632907867
+        ],
+        "min": [
+          -0.0764629989862442,
+          -0.0520239993929863,
+          0.0005109800840727985
+        ]
+      },
+      "center_of_mass": [
+        -9.98644027276896e-05,
+        -3.500742604956031e-05,
+        0.06496138125658035
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.0009180968045257032,
+        0.0012740097008645535,
+        0.001406961353495717
+      ],
+      "mass": 0.5,
+      "material": "ceramic",
+      "name": "D00419 Jug",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00419 Jug",
+        "part_name": "D00419 Jug"
+      },
+      "volume": 0.00020833333333333335
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.13300799950957298,
+        0.10407700017094612,
+        0.13807400624500588
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.5
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00443 Kitchen Box/IsaacSim_assets_6a71a7e5cdde3c1658d3f823/physics_6a71a7e5cdde3c1658d3f823.json b/batch19/D00443 Kitchen Box/IsaacSim_assets_6a71a7e5cdde3c1658d3f823/physics_6a71a7e5cdde3c1658d3f823.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e322c5186fa6e1c8dcfafb3fc053ac83f3463e5
--- /dev/null
+++ b/batch19/D00443 Kitchen Box/IsaacSim_assets_6a71a7e5cdde3c1658d3f823/physics_6a71a7e5cdde3c1658d3f823.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.27032775,
+        0.22117944,
+        0.19486877
+      ],
+      "min": [
+        -0.27145748,
+        0.0,
+        -0.19527236
+      ],
+      "size": [
+        0.5417852299999999,
+        0.22117944,
+        0.39014113
+      ]
+    },
+    "description": "A gray, rectangular plastic storage bin with a central dividing wall and a rolled top rim.",
+    "name": "specialist-current",
+    "object_type": "rigid_bodies",
+    "total_mass": 4.457
+  },
+  "asset_id": "D00443",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0005863082998251693,
+          0.08967252955116085,
+          -0.00018529394617912044
+        ],
+        "max": [
+          0.27032775,
+          0.22117944,
+          0.19486877
+        ],
+        "min": [
+          -0.27145748,
+          0.0,
+          -0.19527236
+        ]
+      },
+      "center_of_mass": [
+        7.322524401522426e-05,
+        0.00021881859931784616,
+        0.08473904824766505
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        0.10528465040787735,
+        0.15416228226613798,
+        0.21143665686763638
+      ],
+      "mass": 4.457,
+      "material": "plastic",
+      "name": "specialist-current",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "specialist-current",
+        "part_name": "specialist-current"
+      },
+      "volume": 0.005469683809475063
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.5417852299999999,
+        0.22117944,
+        0.39014113
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 4.457
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch19/D00496 Lime/IsaacSim_assets_6a714f480035a1dbaf593ab0/IsaacSim_asset_6a714f480035a1dbaf593ab0.usd b/batch19/D00496 Lime/IsaacSim_assets_6a714f480035a1dbaf593ab0/IsaacSim_asset_6a714f480035a1dbaf593ab0.usd
new file mode 100644
index 0000000000000000000000000000000000000000..fd8e4cf3865bd531e1e03e63e4581be8e8f739ca
Binary files /dev/null and b/batch19/D00496 Lime/IsaacSim_assets_6a714f480035a1dbaf593ab0/IsaacSim_asset_6a714f480035a1dbaf593ab0.usd differ
diff --git a/batch19/D00496 Lime/IsaacSim_assets_6a714f480035a1dbaf593ab0/physics_6a714f480035a1dbaf593ab0.json b/batch19/D00496 Lime/IsaacSim_assets_6a714f480035a1dbaf593ab0/physics_6a714f480035a1dbaf593ab0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbf02bc53832bce32c0f799000ccf410d6b67f61
--- /dev/null
+++ b/batch19/D00496 Lime/IsaacSim_assets_6a714f480035a1dbaf593ab0/physics_6a714f480035a1dbaf593ab0.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.021138999611139297,
+        0.018466999754309654,
+        0.0382508710026741
+      ],
+      "min": [
+        -0.02114200033247471,
+        -0.01896600052714348,
+        0.00010486897372175008
+      ],
+      "size": [
+        0.042280999943614006,
+        0.03743300028145313,
+        0.03814600202895235
+      ]
+    },
+    "description": "D00496 Lime",
+    "name": "D00496 Lime",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.087
+  },
+  "asset_id": "D00496",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -1.5003606677055359e-06,
+          -0.0002495003864169121,
+          0.019177869988197926
+        ],
+        "max": [
+          0.021138999611139297,
+          0.018466999754309654,
+          0.0382508710026741
+        ],
+        "min": [
+          -0.02114200033247471,
+          -0.01896600052714348,
+          0.00010486897372175008
+        ]
+      },
+      "center_of_mass": [
+        1.930938014993444e-05,
+        -2.8139000278315507e-05,
+        0.019150102511048317
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        1.2320967471168842e-05,
+        1.3821685570292175e-05,
+        1.406344472343335e-05
+      ],
+      "mass": 0.087,
+      "material": "plastic",
+      "name": "D00496 Lime",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00496 Lime",
+        "part_name": "D00496 Lime"
+      },
+      "volume": 8.699999749660491e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.042280999943614006,
+        0.03743300028145313,
+        0.03814600202895235
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.087
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch21/D00584 Paper Bag/IsaacSim_assets_6a6c281ccb2d3efc65b18b3e/physics_6a6c281ccb2d3efc65b18b3e.json b/batch21/D00584 Paper Bag/IsaacSim_assets_6a6c281ccb2d3efc65b18b3e/physics_6a6c281ccb2d3efc65b18b3e.json
new file mode 100644
index 0000000000000000000000000000000000000000..995025032761b92c942bd26d7419c8aa481715b1
--- /dev/null
+++ b/batch21/D00584 Paper Bag/IsaacSim_assets_6a6c281ccb2d3efc65b18b3e/physics_6a6c281ccb2d3efc65b18b3e.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.14159399271011353,
+        0.09917200356721878,
+        0.43177127838134766
+      ],
+      "min": [
+        -0.14136099815368652,
+        -0.09655000269412994,
+        0.001103291637264192
+      ],
+      "size": [
+        0.28295499086380005,
+        0.19572200626134872,
+        0.43066798674408346
+      ]
+    },
+    "description": "D00584 Paper Bag",
+    "name": "D00584 Paper Bag",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.06
+  },
+  "asset_id": "D00584",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00011649727821350098,
+          0.0013110004365444183,
+          0.21643728500930592
+        ],
+        "max": [
+          0.14159399271011353,
+          0.09917200356721878,
+          0.43177127838134766
+        ],
+        "min": [
+          -0.14136099815368652,
+          -0.09655000269412994,
+          0.001103291637264192
+        ]
+      },
+      "center_of_mass": [
+        -0.0005559379351325333,
+        -4.83757394249551e-05,
+        0.23564991354942322
+      ],
+      "collision": {},
+      "density": 2.700000047683716,
+      "id": "part_00",
+      "inertia": [
+        0.0009162964997813106,
+        0.0013923929072916508,
+        0.0016352591337636113
+      ],
+      "mass": 0.06,
+      "material": "generic",
+      "name": "D00584 Paper Bag",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00584 Paper Bag",
+        "part_name": "D00584 Paper Bag"
+      },
+      "volume": 0.0222222213330583
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.28295499086380005,
+        0.19572200626134872,
+        0.43066798674408346
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.06
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch21/D00811 Steel Bowl Pot/IsaacSim_assets_6a72b7f45d45b936d62d7fe4/physics_6a72b7f45d45b936d62d7fe4.json b/batch21/D00811 Steel Bowl Pot/IsaacSim_assets_6a72b7f45d45b936d62d7fe4/physics_6a72b7f45d45b936d62d7fe4.json
new file mode 100644
index 0000000000000000000000000000000000000000..b912aa5564455e1cce8690ac06f9d1e2d69e8a50
--- /dev/null
+++ b/batch21/D00811 Steel Bowl Pot/IsaacSim_assets_6a72b7f45d45b936d62d7fe4/physics_6a72b7f45d45b936d62d7fe4.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.11400400102138519,
+        0.11410199850797653,
+        0.1190657690167427
+      ],
+      "min": [
+        -0.11405400186777115,
+        -0.11360300332307816,
+        0.0012027700431644917
+      ],
+      "size": [
+        0.22805800288915634,
+        0.2277050018310547,
+        0.11786299897357821
+      ]
+    },
+    "description": "D00811 Steel Bowl Pot",
+    "name": "D00811 Steel Bowl Pot",
+    "object_type": "rigid_bodies",
+    "total_mass": 2.96
+  },
+  "asset_id": "D00811",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -2.5000423192977905e-05,
+          0.00024949759244918823,
+          0.0601342695299536
+        ],
+        "max": [
+          0.11400400102138519,
+          0.11410199850797653,
+          0.1190657690167427
+        ],
+        "min": [
+          -0.11405400186777115,
+          -0.11360300332307816,
+          0.0012027700431644917
+        ]
+      },
+      "center_of_mass": [
+        3.790133268921636e-05,
+        0.00012925060582347214,
+        0.047392088919878006
+      ],
+      "collision": {},
+      "density": 7850.0,
+      "id": "part_00",
+      "inertia": [
+        0.018104050308465958,
+        0.018229542300105095,
+        0.02605465240776539
+      ],
+      "mass": 2.96,
+      "material": "metal",
+      "name": "D00811 Steel Bowl Pot",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00811 Steel Bowl Pot",
+        "part_name": "D00811 Steel Bowl Pot"
+      },
+      "volume": 0.0003770700685537545
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.22805800288915634,
+        0.2277050018310547,
+        0.11786299897357821
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 2.96
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch21/D00972 Wooden Spatula Board/IsaacSim_assets_6a684360171604926a434b82/physics_6a684360171604926a434b82.json b/batch21/D00972 Wooden Spatula Board/IsaacSim_assets_6a684360171604926a434b82/physics_6a684360171604926a434b82.json
new file mode 100644
index 0000000000000000000000000000000000000000..0788d8a453a282e11282242e5482804953d63d2a
--- /dev/null
+++ b/batch21/D00972 Wooden Spatula Board/IsaacSim_assets_6a684360171604926a434b82/physics_6a684360171604926a434b82.json	
@@ -0,0 +1,101 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.06207200139761,
+        0.176025003194809,
+        0.016121309716254
+      ],
+      "min": [
+        -0.062474001199007,
+        -0.135453999042511,
+        0.001147309963471
+      ],
+      "size": [
+        0.124546002596617,
+        0.31147900223731995,
+        0.014973999752783
+      ]
+    },
+    "description": "A rectangular wooden cutting board with rounded corners and a paddle-style handle featuring a hanging hole.",
+    "name": "generated reference 01",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.3
+  },
+  "asset_id": "D00972",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.000200999900699,
+          0.020285502076149,
+          0.008634309839863
+        ],
+        "max": [
+          0.06207200139761,
+          0.176025003194809,
+          0.016121309716254
+        ],
+        "min": [
+          -0.062474001199007,
+          -0.135453999042511,
+          0.001147309963471
+        ]
+      },
+      "collision": {},
+      "density": 700,
+      "id": "part_00",
+      "mass": 0.3,
+      "material": "wood",
+      "name": "generated reference 01",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "generated reference 01",
+        "part_name": "generated reference 01"
+      }
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.124546002596617,
+        0.31147900223731995,
+        0.014973999752783
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.3
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00046 Bottle/IsaacSim_assets_6a7a8996b56a872fd7660d03/physics_6a7a8996b56a872fd7660d03.json b/batch26/D00046 Bottle/IsaacSim_assets_6a7a8996b56a872fd7660d03/physics_6a7a8996b56a872fd7660d03.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab05d77844a622aac0f73dbb5288e4a0947ca810
--- /dev/null
+++ b/batch26/D00046 Bottle/IsaacSim_assets_6a7a8996b56a872fd7660d03/physics_6a7a8996b56a872fd7660d03.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.05968499928712845,
+        0.05947599932551384,
+        0.23490528017282486
+      ],
+      "min": [
+        -0.05933099985122681,
+        -0.05969199910759926,
+        0.0011792853474617048
+      ],
+      "size": [
+        0.11901599913835526,
+        0.1191679984331131,
+        0.23372599482536316
+      ]
+    },
+    "description": "D00046 Bottle",
+    "name": "D00046 Bottle",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.425
+  },
+  "asset_id": "D00046",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00017699971795082092,
+          -0.00010799989104270935,
+          0.11804228276014328
+        ],
+        "max": [
+          0.05968499928712845,
+          0.05947599932551384,
+          0.23490528017282486
+        ],
+        "min": [
+          -0.05933099985122681,
+          -0.05969199910759926,
+          0.0011792853474617048
+        ]
+      },
+      "center_of_mass": [
+        0.00017198109708260745,
+        -0.00011598307901294902,
+        0.09986337274312973
+      ],
+      "collision": {},
+      "density": 2500.0,
+      "id": "part_00",
+      "inertia": [
+        0.0006793142529204488,
+        0.0018801966216415167,
+        0.001880418392829597
+      ],
+      "mass": 0.425,
+      "material": "ceramic",
+      "name": "D00046 Bottle",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00046 Bottle",
+        "part_name": "D00046 Bottle"
+      },
+      "volume": 0.00017000000476837158
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.11901599913835526,
+        0.1191679984331131,
+        0.23372599482536316
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.425
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00052_Butter_Knife/IsaacSim_assets_6a7c4c85b7a9c4204a4a6a1e/physics_6a7c4c85b7a9c4204a4a6a1e.json b/batch26/D00052_Butter_Knife/IsaacSim_assets_6a7c4c85b7a9c4204a4a6a1e/physics_6a7c4c85b7a9c4204a4a6a1e.json
new file mode 100644
index 0000000000000000000000000000000000000000..6395b6c16129884d01b1b0a66656d2fcd09adf99
--- /dev/null
+++ b/batch26/D00052_Butter_Knife/IsaacSim_assets_6a7c4c85b7a9c4204a4a6a1e/physics_6a7c4c85b7a9c4204a4a6a1e.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.08848399668931961,
+        0.01160299964249134,
+        0.011419959366321564
+      ],
+      "min": [
+        -0.12073100358247757,
+        -0.014685000292956829,
+        0.0006539598689414561
+      ],
+      "size": [
+        0.20921500027179718,
+        0.02628799993544817,
+        0.010765999497380108
+      ]
+    },
+    "description": "D00052 Butter Knife",
+    "name": "D00052 Butter Knife",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.113
+  },
+  "asset_id": "D00052",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.01612350344657898,
+          -0.0015410003252327442,
+          0.00603695961763151
+        ],
+        "max": [
+          0.08848399668931961,
+          0.01160299964249134,
+          0.011419959366321564
+        ],
+        "min": [
+          -0.12073100358247757,
+          -0.014685000292956829,
+          0.0006539598689414561
+        ]
+      },
+      "center_of_mass": [
+        0.0012730543967336416,
+        -0.000247596122790128,
+        0.006056614685803652
+      ],
+      "collision": {},
+      "density": 7900.0,
+      "id": "part_00",
+      "inertia": [
+        4.719949629361508e-06,
+        0.0002927693712990731,
+        0.0002962336875498295
+      ],
+      "mass": 0.113,
+      "material": "metal",
+      "name": "D00052 Butter Knife",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00052 Butter Knife",
+        "part_name": "D00052 Butter Knife"
+      },
+      "volume": 1.4303797219373002e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.20921500027179718,
+        0.02628799993544817,
+        0.010765999497380108
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.113
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00101_Pie_Server/IsaacSim_assets_6a7c0aeeb56a872fd7851c4d/physics_6a7c0aeeb56a872fd7851c4d.json b/batch26/D00101_Pie_Server/IsaacSim_assets_6a7c0aeeb56a872fd7851c4d/physics_6a7c0aeeb56a872fd7851c4d.json
new file mode 100644
index 0000000000000000000000000000000000000000..61977615cf8e05e35235afe17ea5011c2a10f08c
--- /dev/null
+++ b/batch26/D00101_Pie_Server/IsaacSim_assets_6a7c0aeeb56a872fd7851c4d/physics_6a7c0aeeb56a872fd7851c4d.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.12740099430084229,
+        0.026839999482035637,
+        0.02149178832769394
+      ],
+      "min": [
+        -0.12724600732326508,
+        -0.028307000175118446,
+        0.0008477898081764579
+      ],
+      "size": [
+        0.25464700162410736,
+        0.05514699965715408,
+        0.02064399851951748
+      ]
+    },
+    "description": "D00101 Pie Server",
+    "name": "D00101 Pie Server",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.126
+  },
+  "asset_id": "D00101",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          7.749348878860474e-05,
+          -0.0007335003465414047,
+          0.011169789067935199
+        ],
+        "max": [
+          0.12740099430084229,
+          0.026839999482035637,
+          0.02149178832769394
+        ],
+        "min": [
+          -0.12724600732326508,
+          -0.028307000175118446,
+          0.0008477898081764579
+        ]
+      },
+      "center_of_mass": [
+        0.013298861682415009,
+        0.0012427347246557474,
+        0.009463951922953129
+      ],
+      "collision": {},
+      "density": 3500.0,
+      "id": "part_00",
+      "inertia": [
+        1.6520358258276246e-05,
+        0.00039929753984324634,
+        0.0004109800502192229
+      ],
+      "mass": 0.126,
+      "material": "glass",
+      "name": "D00101 Pie Server",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00101 Pie Server",
+        "part_name": "D00101 Pie Server"
+      },
+      "volume": 3.600000057901655e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.25464700162410736,
+        0.05514699965715408,
+        0.02064399851951748
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.126
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00181 Gravy Separator/IsaacSim_assets_6a79efbdd43e1896053e7013/physics_6a79efbdd43e1896053e7013.json b/batch26/D00181 Gravy Separator/IsaacSim_assets_6a79efbdd43e1896053e7013/physics_6a79efbdd43e1896053e7013.json
new file mode 100644
index 0000000000000000000000000000000000000000..737fc9f783decbe038bf49d77feb80d470242eeb
--- /dev/null
+++ b/batch26/D00181 Gravy Separator/IsaacSim_assets_6a79efbdd43e1896053e7013/physics_6a79efbdd43e1896053e7013.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.09788099676370621,
+        0.06308899819850922,
+        0.11108862888067961
+      ],
+      "min": [
+        -0.08143699914216995,
+        -0.0625,
+        0.0009116298242588528
+      ],
+      "size": [
+        0.17931799590587616,
+        0.12558899819850922,
+        0.11017699905642075
+      ]
+    },
+    "description": "D00181 Gravy Separator",
+    "name": "D00181 Gravy Separator",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.33
+  },
+  "asset_id": "D00181",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.008221998810768127,
+          0.00029449909925460815,
+          0.05600012935246923
+        ],
+        "max": [
+          0.09788099676370621,
+          0.06308899819850922,
+          0.11108862888067961
+        ],
+        "min": [
+          -0.08143699914216995,
+          -0.0625,
+          0.0009116298242588528
+        ]
+      },
+      "center_of_mass": [
+        -0.0005872964975424111,
+        0.0001340887974947691,
+        0.05209452658891678
+      ],
+      "collision": {},
+      "density": 2500.0,
+      "id": "part_00",
+      "inertia": [
+        0.0007841167389415205,
+        0.000985836493782699,
+        0.001005741418339312
+      ],
+      "mass": 0.33,
+      "material": "ceramic",
+      "name": "D00181 Gravy Separator",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00181 Gravy Separator",
+        "part_name": "D00181 Gravy Separator"
+      },
+      "volume": 0.00013200000524520874
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.17931799590587616,
+        0.12558899819850922,
+        0.11017699905642075
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.33
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00418 Cookie Cutter/IsaacSim_assets_6a799c89d43e1896053614a1/physics_6a799c89d43e1896053614a1.json b/batch26/D00418 Cookie Cutter/IsaacSim_assets_6a799c89d43e1896053614a1/physics_6a799c89d43e1896053614a1.json
new file mode 100644
index 0000000000000000000000000000000000000000..c14c1ee5c88d6e56379d064372db922d2732c16a
--- /dev/null
+++ b/batch26/D00418 Cookie Cutter/IsaacSim_assets_6a799c89d43e1896053614a1/physics_6a799c89d43e1896053614a1.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03398900106549263,
+        0.03571999818086624,
+        0.024171561002731323
+      ],
+      "min": [
+        -0.03378299996256828,
+        -0.029391000047326088,
+        0.00035556036164052784
+      ],
+      "size": [
+        0.06777200102806091,
+        0.06511099822819233,
+        0.023816000641090795
+      ]
+    },
+    "description": "D00418 Cookie Cutter",
+    "name": "D00418 Cookie Cutter",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.074
+  },
+  "asset_id": "D00418",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00010300055146217346,
+          0.0031644990667700768,
+          0.012263560682185926
+        ],
+        "max": [
+          0.03398900106549263,
+          0.03571999818086624,
+          0.024171561002731323
+        ],
+        "min": [
+          -0.03378299996256828,
+          -0.029391000047326088,
+          0.00035556036164052784
+        ]
+      },
+      "center_of_mass": [
+        0.00010869399557122961,
+        -0.0004888841649517417,
+        0.012203509919345379
+      ],
+      "collision": {},
+      "density": 8000.0,
+      "id": "part_00",
+      "inertia": [
+        2.17518590943655e-05,
+        2.1867423129151575e-05,
+        3.664779433165677e-05
+      ],
+      "mass": 0.074,
+      "material": "metal",
+      "name": "D00418 Cookie Cutter",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00418 Cookie Cutter",
+        "part_name": "D00418 Cookie Cutter"
+      },
+      "volume": 9.250000119209289e-06
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.06777200102806091,
+        0.06511099822819233,
+        0.023816000641090795
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.074
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00421 Juice/IsaacSim_assets_6a7d37a9b7a9c4204a64bce1/physics_6a7d37a9b7a9c4204a64bce1.json b/batch26/D00421 Juice/IsaacSim_assets_6a7d37a9b7a9c4204a64bce1/physics_6a7d37a9b7a9c4204a64bce1.json
new file mode 100644
index 0000000000000000000000000000000000000000..b78969494404a2097907fd957cb4311ebcf03864
--- /dev/null
+++ b/batch26/D00421 Juice/IsaacSim_assets_6a7d37a9b7a9c4204a64bce1/physics_6a7d37a9b7a9c4204a64bce1.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03555599972605705,
+        0.03423000127077103,
+        0.2005404829978943
+      ],
+      "min": [
+        -0.03568299859762192,
+        -0.03564999997615814,
+        0.001088480232283473
+      ],
+      "size": [
+        0.07123899832367897,
+        0.06988000124692917,
+        0.19945200276561081
+      ]
+    },
+    "description": "D00421 Juice",
+    "name": "D00421 Juice",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.05
+  },
+  "asset_id": "D00421",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -6.349943578243256e-05,
+          -0.0007099993526935577,
+          0.10081448161508888
+        ],
+        "max": [
+          0.03555599972605705,
+          0.03423000127077103,
+          0.2005404829978943
+        ],
+        "min": [
+          -0.03568299859762192,
+          -0.03564999997615814,
+          0.001088480232283473
+        ]
+      },
+      "center_of_mass": [
+        -6.986041262280196e-05,
+        -4.058132617501542e-05,
+        0.0982697531580925
+      ],
+      "collision": {},
+      "density": 1071.0,
+      "id": "part_00",
+      "inertia": [
+        0.0008230518433265388,
+        0.0036623647902160883,
+        0.003666195087134838
+      ],
+      "mass": 1.05,
+      "material": "plastic",
+      "name": "D00421 Juice",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00421 Juice",
+        "part_name": "D00421 Juice"
+      },
+      "volume": 0.0009803921123401347
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.07123899832367897,
+        0.06988000124692917,
+        0.19945200276561081
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.05
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00429 Pudding Mold/IsaacSim_assets_6a799f94d43e189605367dc4/physics_6a799f94d43e189605367dc4.json b/batch26/D00429 Pudding Mold/IsaacSim_assets_6a799f94d43e189605367dc4/physics_6a799f94d43e189605367dc4.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0421c2f9b5f89368f771bd8512a6ed82d215d3a
--- /dev/null
+++ b/batch26/D00429 Pudding Mold/IsaacSim_assets_6a799f94d43e189605367dc4/physics_6a799f94d43e189605367dc4.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.1136770024895668,
+        0.11388999968767166,
+        0.08617398142814636
+      ],
+      "min": [
+        -0.11364699900150299,
+        -0.11381799727678299,
+        0.0011059800162911415
+      ],
+      "size": [
+        0.2273240014910698,
+        0.22770799696445465,
+        0.08506800141185522
+      ]
+    },
+    "description": "D00429 Pudding Mold",
+    "name": "D00429 Pudding Mold",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.8
+  },
+  "asset_id": "D00429",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          1.5001744031906128e-05,
+          3.600120544433594e-05,
+          0.04363998072221875
+        ],
+        "max": [
+          0.1136770024895668,
+          0.11388999968767166,
+          0.08617398142814636
+        ],
+        "min": [
+          -0.11364699900150299,
+          -0.11381799727678299,
+          0.0011059800162911415
+        ]
+      },
+      "center_of_mass": [
+        -2.7484178644954227e-05,
+        -1.0224205652775709e-05,
+        0.041175659745931625
+      ],
+      "collision": {},
+      "density": 2700.0,
+      "id": "part_00",
+      "inertia": [
+        0.0033116312697529793,
+        0.0033249175176024437,
+        0.0054047987796366215
+      ],
+      "mass": 0.8,
+      "material": "ceramic",
+      "name": "D00429 Pudding Mold",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00429 Pudding Mold",
+        "part_name": "D00429 Pudding Mold"
+      },
+      "volume": 0.0002962963007114552
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.2273240014910698,
+        0.22770799696445465,
+        0.08506800141185522
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.8
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00431 Jelly Mold/IsaacSim_assets_6a75519092349ccf311d1c1a/physics_6a75519092349ccf311d1c1a.json b/batch26/D00431 Jelly Mold/IsaacSim_assets_6a75519092349ccf311d1c1a/physics_6a75519092349ccf311d1c1a.json
new file mode 100644
index 0000000000000000000000000000000000000000..212c79fd11f966e490e9beb33a2d9f3244658e23
--- /dev/null
+++ b/batch26/D00431 Jelly Mold/IsaacSim_assets_6a75519092349ccf311d1c1a/physics_6a75519092349ccf311d1c1a.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.09917700290679932,
+        0.09930200129747391,
+        0.08602552115917206
+      ],
+      "min": [
+        -0.09994599968194962,
+        -0.0992560014128685,
+        0.0009145198855549097
+      ],
+      "size": [
+        0.19912300258874893,
+        0.1985580027103424,
+        0.08511100127361715
+      ]
+    },
+    "description": "D00431 Jelly Mold",
+    "name": "D00431 Jelly Mold",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.285
+  },
+  "asset_id": "D00431",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00038449838757514954,
+          2.2999942302703857e-05,
+          0.043470020522363484
+        ],
+        "max": [
+          0.09917700290679932,
+          0.09930200129747391,
+          0.08602552115917206
+        ],
+        "min": [
+          -0.09994599968194962,
+          -0.0992560014128685,
+          0.0009145198855549097
+        ]
+      },
+      "center_of_mass": [
+        -0.00033081573201343417,
+        1.3732503248320427e-05,
+        0.04769399017095566
+      ],
+      "collision": {},
+      "density": 1100.0,
+      "id": "part_00",
+      "inertia": [
+        0.0007325729820877314,
+        0.0007443359936587512,
+        0.0011491518234834075
+      ],
+      "mass": 0.285,
+      "material": "plastic",
+      "name": "D00431 Jelly Mold",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00431 Jelly Mold",
+        "part_name": "D00431 Jelly Mold"
+      },
+      "volume": 0.00025909090583974665
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.19912300258874893,
+        0.1985580027103424,
+        0.08511100127361715
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.285
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00460 Martini Glass/IsaacSim_assets_6a799128d43e18960534b7cf/physics_6a799128d43e18960534b7cf.json b/batch26/D00460 Martini Glass/IsaacSim_assets_6a799128d43e18960534b7cf/physics_6a799128d43e18960534b7cf.json
new file mode 100644
index 0000000000000000000000000000000000000000..a97b53f1821361f8ae572f5d080447a311c4281d
--- /dev/null
+++ b/batch26/D00460 Martini Glass/IsaacSim_assets_6a799128d43e18960534b7cf/physics_6a799128d43e18960534b7cf.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.062150999903678894,
+        0.06271599978208542,
+        0.17719778418540955
+      ],
+      "min": [
+        -0.06193099915981293,
+        -0.06257700175046921,
+        0.0008757901377975941
+      ],
+      "size": [
+        0.12408199906349182,
+        0.12529300153255463,
+        0.17632199404761195
+      ]
+    },
+    "description": "D00460 Martini Glass",
+    "name": "D00460 Martini Glass",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.89
+  },
+  "asset_id": "D00460",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0001100003719329834,
+          6.949901580810547e-05,
+          0.08903678716160357
+        ],
+        "max": [
+          0.062150999903678894,
+          0.06271599978208542,
+          0.17719778418540955
+        ],
+        "min": [
+          -0.06193099915981293,
+          -0.06257700175046921,
+          0.0008757901377975941
+        ]
+      },
+      "center_of_mass": [
+        0.00010413075506221503,
+        5.2054721891181543e-05,
+        0.10184367746114731
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_00",
+      "inertia": [
+        0.0012640804052352905,
+        0.00281516439281404,
+        0.002826022682711482
+      ],
+      "mass": 0.89,
+      "material": "metal",
+      "name": "D00460 Martini Glass",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00460 Martini Glass",
+        "part_name": "D00460 Martini Glass"
+      },
+      "volume": 0.00011410256226857503
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.12408199906349182,
+        0.12529300153255463,
+        0.17632199404761195
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.89
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00468 Punch Bowl/IsaacSim_assets_6a79a7f1d43e18960537c682/physics_6a79a7f1d43e18960537c682.json b/batch26/D00468 Punch Bowl/IsaacSim_assets_6a79a7f1d43e18960537c682/physics_6a79a7f1d43e18960537c682.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bf76b956a8f0b1e59a2369257b6df24b9605443
--- /dev/null
+++ b/batch26/D00468 Punch Bowl/IsaacSim_assets_6a79a7f1d43e18960537c682/physics_6a79a7f1d43e18960537c682.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.17557799816131592,
+        0.1762000024318695,
+        0.24494656920433044
+      ],
+      "min": [
+        -0.17586100101470947,
+        -0.17556999623775482,
+        0.001836570561863482
+      ],
+      "size": [
+        0.3514389991760254,
+        0.35176999866962433,
+        0.24310999864246696
+      ]
+    },
+    "description": "D00468 Punch Bowl",
+    "name": "D00468 Punch Bowl",
+    "object_type": "rigid_bodies",
+    "total_mass": 3.22
+  },
+  "asset_id": "D00468",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00014150142669677734,
+          0.00031500309705734253,
+          0.12339156988309696
+        ],
+        "max": [
+          0.17557799816131592,
+          0.1762000024318695,
+          0.24494656920433044
+        ],
+        "min": [
+          -0.17586100101470947,
+          -0.17556999623775482,
+          0.001836570561863482
+        ]
+      },
+      "center_of_mass": [
+        -0.0003319891111459583,
+        0.000415063404943794,
+        0.11227723956108093
+      ],
+      "collision": {},
+      "density": 2500.0,
+      "id": "part_00",
+      "inertia": [
+        0.0371260941028595,
+        0.03720829635858536,
+        0.04104354605078697
+      ],
+      "mass": 3.22,
+      "material": "ceramic",
+      "name": "D00468 Punch Bowl",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00468 Punch Bowl",
+        "part_name": "D00468 Punch Bowl"
+      },
+      "volume": 0.0012880000114440919
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.3514389991760254,
+        0.35176999866962433,
+        0.24310999864246696
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 3.22
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00473 Produce Basket/IsaacSim_assets_6a79c5d7d43e1896053b2cfb/physics_6a79c5d7d43e1896053b2cfb.json b/batch26/D00473 Produce Basket/IsaacSim_assets_6a79c5d7d43e1896053b2cfb/physics_6a79c5d7d43e1896053b2cfb.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a2c69ff1818e5e175612667aafec59f81b2de78
--- /dev/null
+++ b/batch26/D00473 Produce Basket/IsaacSim_assets_6a79c5d7d43e1896053b2cfb/physics_6a79c5d7d43e1896053b2cfb.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.15585200488567352,
+        0.19223900139331818,
+        0.2274656891822815
+      ],
+      "min": [
+        -0.1552789956331253,
+        -0.19431500136852264,
+        0.0017016931669786572
+      ],
+      "size": [
+        0.31113100051879883,
+        0.3865540027618408,
+        0.22576399601530284
+      ]
+    },
+    "description": "D00473 Produce Basket",
+    "name": "D00473 Produce Basket",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.0
+  },
+  "asset_id": "D00473",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0002865046262741089,
+          -0.0010379999876022339,
+          0.11458369117463008
+        ],
+        "max": [
+          0.15585200488567352,
+          0.19223900139331818,
+          0.2274656891822815
+        ],
+        "min": [
+          -0.1552789956331253,
+          -0.19431500136852264,
+          0.0017016931669786572
+        ]
+      },
+      "center_of_mass": [
+        0.0002906727895606309,
+        -0.001055508153513074,
+        0.11475957185029984
+      ],
+      "collision": {},
+      "density": 465.0,
+      "id": "part_00",
+      "inertia": [
+        0.0122236842289567,
+        0.016581866890192032,
+        0.0203325767070055
+      ],
+      "mass": 1.0,
+      "material": "foam",
+      "name": "D00473 Produce Basket",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00473 Produce Basket",
+        "part_name": "D00473 Produce Basket"
+      },
+      "volume": 0.002150537634408602
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.31113100051879883,
+        0.3865540027618408,
+        0.22576399601530284
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.0
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00499 Pie Weights/IsaacSim_assets_6a79a8d1d43e18960537e4e7/IsaacSim_asset_6a79a8d1d43e18960537e4e7.usd b/batch26/D00499 Pie Weights/IsaacSim_assets_6a79a8d1d43e18960537e4e7/IsaacSim_asset_6a79a8d1d43e18960537e4e7.usd
new file mode 100644
index 0000000000000000000000000000000000000000..843d047260ec97d7b606505f931ae6e3ac9233aa
Binary files /dev/null and b/batch26/D00499 Pie Weights/IsaacSim_assets_6a79a8d1d43e18960537e4e7/IsaacSim_asset_6a79a8d1d43e18960537e4e7.usd differ
diff --git a/batch26/D00499 Pie Weights/IsaacSim_assets_6a79a8d1d43e18960537e4e7/physics_6a79a8d1d43e18960537e4e7.json b/batch26/D00499 Pie Weights/IsaacSim_assets_6a79a8d1d43e18960537e4e7/physics_6a79a8d1d43e18960537e4e7.json
new file mode 100644
index 0000000000000000000000000000000000000000..e78f4fc2c1e025fd9a04b244a090023cd43f585f
--- /dev/null
+++ b/batch26/D00499 Pie Weights/IsaacSim_assets_6a79a8d1d43e18960537e4e7/physics_6a79a8d1d43e18960537e4e7.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.0038129999302327633,
+        0.0038129999302327633,
+        0.007626259699463844
+      ],
+      "min": [
+        -0.0038189999759197235,
+        -0.0037769998889416456,
+        2.600299922050908e-07
+      ],
+      "size": [
+        0.007631999906152487,
+        0.007589999819174409,
+        0.007625999669471639
+      ]
+    },
+    "description": "D00499 Pie Weights",
+    "name": "D00499 Pie Weights",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.00217
+  },
+  "asset_id": "D00499",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -3.00002284348011e-06,
+          1.8000020645558834e-05,
+          0.0038132598647280247
+        ],
+        "max": [
+          0.0038129999302327633,
+          0.0038129999302327633,
+          0.007626259699463844
+        ],
+        "min": [
+          -0.0038189999759197235,
+          -0.0037769998889416456,
+          2.600299922050908e-07
+        ]
+      },
+      "center_of_mass": [
+        -1.900676215882413e-05,
+        3.1234430935001e-05,
+        0.003805715823546052
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        1.2395611648230442e-08,
+        1.2412222361035674e-08,
+        1.2453145181723357e-08
+      ],
+      "mass": 0.00217,
+      "material": "ceramic",
+      "name": "D00499 Pie Weights",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00499 Pie Weights",
+        "part_name": "D00499 Pie Weights"
+      },
+      "volume": 9.04166663531214e-07
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.007631999906152487,
+        0.007589999819174409,
+        0.007625999669471639
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.00217
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00503 Cake Leveler/IsaacSim_assets_6a79913ad43e18960534bad7/physics_6a79913ad43e18960534bad7.json b/batch26/D00503 Cake Leveler/IsaacSim_assets_6a79913ad43e18960534bad7/physics_6a79913ad43e18960534bad7.json
new file mode 100644
index 0000000000000000000000000000000000000000..b69bf1098b355e094ec59130b182ba2e4fbdf157
--- /dev/null
+++ b/batch26/D00503 Cake Leveler/IsaacSim_assets_6a79913ad43e18960534bad7/physics_6a79913ad43e18960534bad7.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.2401680052280426,
+        0.024389000609517097,
+        0.32695871591567993
+      ],
+      "min": [
+        -0.2313220053911209,
+        -0.024555999785661697,
+        0.0012597397435456514
+      ],
+      "size": [
+        0.4714900106191635,
+        0.048945000395178795,
+        0.3256989761721343
+      ]
+    },
+    "description": "D00503 Cake Leveler",
+    "name": "D00503 Cake Leveler",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.25
+  },
+  "asset_id": "D00503",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.004422999918460846,
+          -8.349958807229996e-05,
+          0.1641092278296128
+        ],
+        "max": [
+          0.2401680052280426,
+          0.024389000609517097,
+          0.32695871591567993
+        ],
+        "min": [
+          -0.2313220053911209,
+          -0.024555999785661697,
+          0.0012597397435456514
+        ]
+      },
+      "center_of_mass": [
+        0.004380760248750448,
+        -4.73985965072643e-05,
+        0.13937103748321533
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_00",
+      "inertia": [
+        0.0020650611259043217,
+        0.004087668843567371,
+        0.006092843599617481
+      ],
+      "mass": 0.25,
+      "material": "metal",
+      "name": "D00503 Cake Leveler",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00503 Cake Leveler",
+        "part_name": "D00503 Cake Leveler"
+      },
+      "volume": 3.205128205128205e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.4714900106191635,
+        0.048945000395178795,
+        0.3256989761721343
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.25
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00519 Cake Turntable/IsaacSim_assets_6a79913cd43e18960534bb0f/physics_6a79913cd43e18960534bb0f.json b/batch26/D00519 Cake Turntable/IsaacSim_assets_6a79913cd43e18960534bb0f/physics_6a79913cd43e18960534bb0f.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a4bed7ba95b1e795f7e8648e3bf184ebb0fca19
--- /dev/null
+++ b/batch26/D00519 Cake Turntable/IsaacSim_assets_6a79913cd43e18960534bb0f/physics_6a79913cd43e18960534bb0f.json	
@@ -0,0 +1,153 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.11518699675798416,
+        0.11565899848937988,
+        0.10200110077857971
+      ],
+      "min": [
+        -0.11556199938058853,
+        -0.11504600197076797,
+        0.0007651000050827861
+      ],
+      "size": [
+        0.2307489961385727,
+        0.23070500046014786,
+        0.10123600077349693
+      ]
+    },
+    "description": "D00519 Cake Turntable",
+    "name": "D00519 Cake Turntable",
+    "object_type": "rigid_bodies",
+    "total_mass": 2.2
+  },
+  "asset_id": "D00519",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00018750131130218506,
+          0.000306498259305954,
+          0.0514856003865134
+        ],
+        "max": [
+          0.11518699675798416,
+          0.11565899848937988,
+          0.10200110077857971
+        ],
+        "min": [
+          -0.11556199938058853,
+          -0.11504600197076797,
+          0.0009700999944470823
+        ]
+      },
+      "center_of_mass": [
+        -0.010171715170145035,
+        0.0009173293365165591,
+        0.07358291000127792
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_00",
+      "inertia": [
+        0.0031958045437932014,
+        0.003609134117141366,
+        0.005827362649142742
+      ],
+      "mass": 1.2,
+      "material": "metal",
+      "name": "D00519 Cake Turntable",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00519 Cake Turntable",
+        "part_name": "D00519 Cake Turntable"
+      },
+      "volume": 0.00015384615995945076
+    },
+    {
+      "bounds": {
+        "center": [
+          -8.00006091594696e-05,
+          0.0003810003399848938,
+          0.012443100044038147
+        ],
+        "max": [
+          0.0715159997344017,
+          0.071942999958992,
+          0.024121100082993507
+        ],
+        "min": [
+          -0.07167600095272064,
+          -0.07118099927902222,
+          0.0007651000050827861
+        ]
+      },
+      "center_of_mass": [
+        -0.0001079875000868924,
+        0.0003623450465966016,
+        0.009492619894444942
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_01",
+      "inertia": [
+        0.0011012383038178086,
+        0.0011036088690161705,
+        0.0021413438953459263
+      ],
+      "mass": 1.0,
+      "material": "metal",
+      "name": "D00519 Cake Turntable",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00519 Cake Turntable",
+        "part_name": "D00519 Cake Turntable"
+      },
+      "volume": 0.0001282051282051282
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.2307489961385727,
+        0.23070500046014786,
+        0.10123600077349693
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 2.2
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 2
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00520 Icing Spatula/IsaacSim_assets_6a79b3b8d43e189605399592/physics_6a79b3b8d43e189605399592.json b/batch26/D00520 Icing Spatula/IsaacSim_assets_6a79b3b8d43e189605399592/physics_6a79b3b8d43e189605399592.json
new file mode 100644
index 0000000000000000000000000000000000000000..c738ebfecf71abf7ab0e52b169aa8961c336f2da
--- /dev/null
+++ b/batch26/D00520 Icing Spatula/IsaacSim_assets_6a79b3b8d43e189605399592/physics_6a79b3b8d43e189605399592.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.11341899633407593,
+        0.01692499965429306,
+        0.019252751022577286
+      ],
+      "min": [
+        -0.1652590036392212,
+        -0.01674799993634224,
+        0.0009847506880760193
+      ],
+      "size": [
+        0.2786779999732971,
+        0.0336729995906353,
+        0.018268000334501266
+      ]
+    },
+    "description": "D00520 Icing Spatula",
+    "name": "D00520 Icing Spatula",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.12
+  },
+  "asset_id": "D00520",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.025920003652572632,
+          8.849985897541046e-05,
+          0.010118750855326653
+        ],
+        "max": [
+          0.11341899633407593,
+          0.01692499965429306,
+          0.019252751022577286
+        ],
+        "min": [
+          -0.1652590036392212,
+          -0.01674799993634224,
+          0.0009847506880760193
+        ]
+      },
+      "center_of_mass": [
+        0.03554311767220497,
+        0.0001091178273782134,
+        0.010141686536371708
+      ],
+      "collision": {},
+      "density": 3157.0,
+      "id": "part_00",
+      "inertia": [
+        9.49085642787395e-06,
+        0.0004893725854344666,
+        0.0004953172756358981
+      ],
+      "mass": 0.12,
+      "material": "glass",
+      "name": "D00520 Icing Spatula",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00520 Icing Spatula",
+        "part_name": "D00520 Icing Spatula"
+      },
+      "volume": 3.801076886847988e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.2786779999732971,
+        0.0336729995906353,
+        0.018268000334501266
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.12
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00569 Lychee/IsaacSim_assets_6a79b030d43e1896053902aa/physics_6a79b030d43e1896053902aa.json b/batch26/D00569 Lychee/IsaacSim_assets_6a79b030d43e1896053902aa/physics_6a79b030d43e1896053902aa.json
new file mode 100644
index 0000000000000000000000000000000000000000..90213cfaf1910dfc0fc5c39fcc19f616466cdd43
--- /dev/null
+++ b/batch26/D00569 Lychee/IsaacSim_assets_6a79b030d43e1896053902aa/physics_6a79b030d43e1896053902aa.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.01077600009739399,
+        0.010603999719023705,
+        0.02194831147789955
+      ],
+      "min": [
+        -0.010545999743044376,
+        -0.010684999637305737,
+        7.931049913167953e-05
+      ],
+      "size": [
+        0.021321999840438366,
+        0.02128899935632944,
+        0.021869000978767872
+      ]
+    },
+    "description": "D00569 Lychee",
+    "name": "D00569 Lychee",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.02
+  },
+  "asset_id": "D00569",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0001150001771748066,
+          -4.0499959141016006e-05,
+          0.011013810988515615
+        ],
+        "max": [
+          0.01077600009739399,
+          0.010603999719023705,
+          0.02194831147789955
+        ],
+        "min": [
+          -0.010545999743044376,
+          -0.010684999637305737,
+          7.931049913167953e-05
+        ]
+      },
+      "center_of_mass": [
+        0.00020402457448653877,
+        1.548545878904406e-05,
+        0.010843957774341106
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        8.675551157466543e-07,
+        9.285728879149246e-07,
+        9.508718221695744e-07
+      ],
+      "mass": 0.02,
+      "material": "plastic",
+      "name": "D00569 Lychee",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00569 Lychee",
+        "part_name": "D00569 Lychee"
+      },
+      "volume": 1.9999999552965164e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.021321999840438366,
+        0.02128899935632944,
+        0.021869000978767872
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.02
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00574 Orange/IsaacSim_assets_6a79be3bd43e1896053a85cb/physics_6a79be3bd43e1896053a85cb.json b/batch26/D00574 Orange/IsaacSim_assets_6a79be3bd43e1896053a85cb/physics_6a79be3bd43e1896053a85cb.json
new file mode 100644
index 0000000000000000000000000000000000000000..32f5d6b0e57ca896ad6711e67d413cf89a43fc63
--- /dev/null
+++ b/batch26/D00574 Orange/IsaacSim_assets_6a79be3bd43e1896053a85cb/physics_6a79be3bd43e1896053a85cb.json	
@@ -0,0 +1,153 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.02455800026655197,
+        0.025585999712347984,
+        0.05019290745258331
+      ],
+      "min": [
+        -0.025356000289320946,
+        -0.024133000522851944,
+        0.00020090972247999161
+      ],
+      "size": [
+        0.04991400055587292,
+        0.04971900023519993,
+        0.04999199773010332
+      ]
+    },
+    "description": "D00574 Orange",
+    "name": "D00574 Orange",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.066
+  },
+  "asset_id": "D00574",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00039900001138448715,
+          0.0007264995947480202,
+          0.025196908587531652
+        ],
+        "max": [
+          0.02455800026655197,
+          0.025585999712347984,
+          0.05019290745258331
+        ],
+        "min": [
+          -0.025356000289320946,
+          -0.024133000522851944,
+          0.00020090972247999161
+        ]
+      },
+      "center_of_mass": [
+        -0.0005875876522623003,
+        0.0007442255737259984,
+        0.02525404468178749
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        1.5941677702357993e-05,
+        1.610775143490173e-05,
+        1.6130279618664645e-05
+      ],
+      "mass": 0.065,
+      "material": "plastic",
+      "name": "D00574 Orange",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00574 Orange",
+        "part_name": "D00574 Orange"
+      },
+      "volume": 6.499999761581421e-05
+    },
+    {
+      "bounds": {
+        "center": [
+          0.011359000112861395,
+          -0.016446999739855528,
+          0.03132840897887945
+        ],
+        "max": [
+          0.014653000049293041,
+          -0.012090000323951244,
+          0.03508590906858444
+        ],
+        "min": [
+          0.008065000176429749,
+          -0.02080399915575981,
+          0.02757090888917446
+        ]
+      },
+      "center_of_mass": [
+        0.01072460226714611,
+        -0.017080362886190414,
+        0.030820606276392937
+      ],
+      "collision": {},
+      "density": 400.0,
+      "id": "part_01",
+      "inertia": [
+        3.801986281359859e-09,
+        5.339296560435969e-09,
+        5.675123926351944e-09
+      ],
+      "mass": 0.001,
+      "material": "foam",
+      "name": "D00574 Orange",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00574 Orange",
+        "part_name": "D00574 Orange"
+      },
+      "volume": 2.5000001187436284e-06
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.04991400055587292,
+        0.04971900023519993,
+        0.04999199773010332
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.066
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 2
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00688_Salt_Mill/IsaacSim_assets_6a7c19a1b56a872fd787293b/physics_6a7c19a1b56a872fd787293b.json b/batch26/D00688_Salt_Mill/IsaacSim_assets_6a7c19a1b56a872fd787293b/physics_6a7c19a1b56a872fd787293b.json
new file mode 100644
index 0000000000000000000000000000000000000000..07113d848d356bec57062fa40f5b6dfe7e0d505b
--- /dev/null
+++ b/batch26/D00688_Salt_Mill/IsaacSim_assets_6a7c19a1b56a872fd787293b/physics_6a7c19a1b56a872fd787293b.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03192700073122978,
+        0.03196299821138382,
+        0.1947510689496994
+      ],
+      "min": [
+        -0.0320420004427433,
+        -0.03184700012207031,
+        0.0007110701408237219
+      ],
+      "size": [
+        0.06396900117397308,
+        0.06380999833345413,
+        0.19403999880887568
+      ]
+    },
+    "description": "D00688 Salt Mill",
+    "name": "D00688 Salt Mill",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.3
+  },
+  "asset_id": "D00688",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -5.7499855756759644e-05,
+          5.799904465675354e-05,
+          0.09773106954526156
+        ],
+        "max": [
+          0.03192700073122978,
+          0.03196299821138382,
+          0.1947510689496994
+        ],
+        "min": [
+          -0.0320420004427433,
+          -0.03184700012207031,
+          0.0007110701408237219
+        ]
+      },
+      "center_of_mass": [
+        -6.0845013649668545e-05,
+        7.144857954699546e-05,
+        0.09160929173231125
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        0.00014561388525180519,
+        0.0009177731699310243,
+        0.0009181859786622226
+      ],
+      "mass": 0.3,
+      "material": "wood",
+      "name": "D00688 Salt Mill",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00688 Salt Mill",
+        "part_name": "D00688 Salt Mill"
+      },
+      "volume": 0.0004285714456013271
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.06396900117397308,
+        0.06380999833345413,
+        0.19403999880887568
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.3
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00763_Spice_Grinder/IsaacSim_assets_6a7c2f03b56a872fd78d3b8b/physics_6a7c2f03b56a872fd78d3b8b.json b/batch26/D00763_Spice_Grinder/IsaacSim_assets_6a7c2f03b56a872fd78d3b8b/physics_6a7c2f03b56a872fd78d3b8b.json
new file mode 100644
index 0000000000000000000000000000000000000000..966eb25ce6f4e2478f16042fa823e79cf48adbd3
--- /dev/null
+++ b/batch26/D00763_Spice_Grinder/IsaacSim_assets_6a7c2f03b56a872fd78d3b8b/physics_6a7c2f03b56a872fd78d3b8b.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.027581999078392982,
+        0.027907000854611397,
+        0.15325747430324554
+      ],
+      "min": [
+        -0.02777799963951111,
+        -0.02798300050199032,
+        0.0008174812537617981
+      ],
+      "size": [
+        0.05535999871790409,
+        0.055890001356601715,
+        0.15243999304948375
+      ]
+    },
+    "description": "D00763 Spice Grinder",
+    "name": "D00763 Spice Grinder",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.2
+  },
+  "asset_id": "D00763",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -9.800028055906296e-05,
+          -3.7999823689460754e-05,
+          0.07703747777850367
+        ],
+        "max": [
+          0.027581999078392982,
+          0.027907000854611397,
+          0.15325747430324554
+        ],
+        "min": [
+          -0.02777799963951111,
+          -0.02798300050199032,
+          0.0008174812537617981
+        ]
+      },
+      "center_of_mass": [
+        -9.457839769311249e-05,
+        -3.197243495378643e-05,
+        0.07136758416891098
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        7.294202805496752e-05,
+        0.0003771481569856405,
+        0.00037772409268654883
+      ],
+      "mass": 0.2,
+      "material": "wood",
+      "name": "D00763 Spice Grinder",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00763 Spice Grinder",
+        "part_name": "D00763 Spice Grinder"
+      },
+      "volume": 0.0002857142899717603
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.05535999871790409,
+        0.055890001356601715,
+        0.15243999304948375
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.2
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00765_Jicama/IsaacSim_assets_6a7c309db7a9c4204a472984/physics_6a7c309db7a9c4204a472984.json b/batch26/D00765_Jicama/IsaacSim_assets_6a7c309db7a9c4204a472984/physics_6a7c309db7a9c4204a472984.json
new file mode 100644
index 0000000000000000000000000000000000000000..3661c98e1355090de365d4a5d6e6c77b2d9aa0da
--- /dev/null
+++ b/batch26/D00765_Jicama/IsaacSim_assets_6a7c309db7a9c4204a472984/physics_6a7c309db7a9c4204a472984.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.037671998143196106,
+        0.0377810001373291,
+        0.06830117106437683
+      ],
+      "min": [
+        -0.03784799948334694,
+        -0.0377580001950264,
+        0.0003181702923029661
+      ],
+      "size": [
+        0.07551999762654305,
+        0.0755390003323555,
+        0.06798300077207386
+      ]
+    },
+    "description": "D00765 Jicama",
+    "name": "D00765 Jicama",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.766
+  },
+  "asset_id": "D00765",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -8.800067007541656e-05,
+          1.1499971151351929e-05,
+          0.0343096706783399
+        ],
+        "max": [
+          0.037671998143196106,
+          0.0377810001373291,
+          0.06830117106437683
+        ],
+        "min": [
+          -0.03784799948334694,
+          -0.0377580001950264,
+          0.0003181702923029661
+        ]
+      },
+      "center_of_mass": [
+        0.00016027322271838784,
+        0.0005005322746001184,
+        0.03391936421394348
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        0.00035212768125347793,
+        0.00037651247112080455,
+        0.0004367662186268717
+      ],
+      "mass": 0.766,
+      "material": "plastic",
+      "name": "D00765 Jicama",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00765 Jicama",
+        "part_name": "D00765 Jicama"
+      },
+      "volume": 0.000765999972820282
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.07551999762654305,
+        0.0755390003323555,
+        0.06798300077207386
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.766
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00797_Hot_Dog/IsaacSim_assets_6a7c33b3b7a9c4204a480eaa/physics_6a7c33b3b7a9c4204a480eaa.json b/batch26/D00797_Hot_Dog/IsaacSim_assets_6a7c33b3b7a9c4204a480eaa/physics_6a7c33b3b7a9c4204a480eaa.json
new file mode 100644
index 0000000000000000000000000000000000000000..25c1f4483b87ab96751f2878712b407e64613fc1
--- /dev/null
+++ b/batch26/D00797_Hot_Dog/IsaacSim_assets_6a7c33b3b7a9c4204a480eaa/physics_6a7c33b3b7a9c4204a480eaa.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03248700127005577,
+        0.07218900322914124,
+        0.046626269817352295
+      ],
+      "min": [
+        -0.03300600126385689,
+        -0.07056699693202972,
+        0.0007572694448754191
+      ],
+      "size": [
+        0.06549300253391266,
+        0.14275600016117096,
+        0.045869000372476876
+      ]
+    },
+    "description": "D00797 Hot Dog",
+    "name": "D00797 Hot Dog",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.12
+  },
+  "asset_id": "D00797",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00025949999690055847,
+          0.0008110031485557556,
+          0.023691769631113857
+        ],
+        "max": [
+          0.03248700127005577,
+          0.07218900322914124,
+          0.046626269817352295
+        ],
+        "min": [
+          -0.03300600126385689,
+          -0.07056699693202972,
+          0.0007572694448754191
+        ]
+      },
+      "center_of_mass": [
+        -0.00040518122841604054,
+        0.00072530098259449,
+        0.024210136383771896
+      ],
+      "collision": {},
+      "density": 800.0,
+      "id": "part_00",
+      "inertia": [
+        4.509173959377222e-05,
+        0.0001699456770438701,
+        0.000184578268090263
+      ],
+      "mass": 0.12,
+      "material": "wood",
+      "name": "D00797 Hot Dog",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00797 Hot Dog",
+        "part_name": "D00797 Hot Dog"
+      },
+      "volume": 0.00014999999664723872
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.06549300253391266,
+        0.14275600016117096,
+        0.045869000372476876
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.12
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00804 Stainless Steel Tumbler/IsaacSim_assets_6a7a9a37b56a872fd768fcf6/physics_6a7a9a37b56a872fd768fcf6.json b/batch26/D00804 Stainless Steel Tumbler/IsaacSim_assets_6a7a9a37b56a872fd768fcf6/physics_6a7a9a37b56a872fd768fcf6.json
new file mode 100644
index 0000000000000000000000000000000000000000..fba2c5da0d213a0af87661943383b63e257842a5
--- /dev/null
+++ b/batch26/D00804 Stainless Steel Tumbler/IsaacSim_assets_6a7a9a37b56a872fd768fcf6/physics_6a7a9a37b56a872fd768fcf6.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03821299970149994,
+        0.03838299959897995,
+        0.1483898162841797
+      ],
+      "min": [
+        -0.038182999938726425,
+        -0.03829599916934967,
+        0.0007848102832213044
+      ],
+      "size": [
+        0.07639599964022636,
+        0.07667899876832962,
+        0.14760500600095838
+      ]
+    },
+    "description": "D00804 Stainless Steel Tumbler",
+    "name": "D00804 Stainless Steel Tumbler",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.35
+  },
+  "asset_id": "D00804",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          1.4999881386756897e-05,
+          4.350021481513977e-05,
+          0.0745873132837005
+        ],
+        "max": [
+          0.03821299970149994,
+          0.03838299959897995,
+          0.1483898162841797
+        ],
+        "min": [
+          -0.038182999938726425,
+          -0.03829599916934967,
+          0.0007848102832213044
+        ]
+      },
+      "center_of_mass": [
+        -9.536510333418846e-06,
+        6.16804463788867e-05,
+        0.08139045536518097
+      ],
+      "collision": {},
+      "density": 8000.0,
+      "id": "part_00",
+      "inertia": [
+        0.0002195277193095535,
+        0.0007113656611181796,
+        0.0007123224786482751
+      ],
+      "mass": 0.35,
+      "material": "metal",
+      "name": "D00804 Stainless Steel Tumbler",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00804 Stainless Steel Tumbler",
+        "part_name": "D00804 Stainless Steel Tumbler"
+      },
+      "volume": 4.374999925494194e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.07639599964022636,
+        0.07667899876832962,
+        0.14760500600095838
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.35
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00838 Sugar Jar/IsaacSim_assets_6a75b8cad43e18960501ba2b/physics_6a75b8cad43e18960501ba2b.json b/batch26/D00838 Sugar Jar/IsaacSim_assets_6a75b8cad43e18960501ba2b/physics_6a75b8cad43e18960501ba2b.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a72689e59546a68e47e078255fa0949654dd4fe
--- /dev/null
+++ b/batch26/D00838 Sugar Jar/IsaacSim_assets_6a75b8cad43e18960501ba2b/physics_6a75b8cad43e18960501ba2b.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.053582001477479935,
+        0.053367000073194504,
+        0.08250565081834793
+      ],
+      "min": [
+        -0.0535769984126091,
+        -0.05355599895119667,
+        0.0005236500292085111
+      ],
+      "size": [
+        0.10715899989008904,
+        0.10692299902439117,
+        0.08198200078913942
+      ]
+    },
+    "description": "D00838 Sugar Jar",
+    "name": "D00838 Sugar Jar",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.13
+  },
+  "asset_id": "D00838",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          2.5015324354171753e-06,
+          -9.449943900108337e-05,
+          0.04151465042377822
+        ],
+        "max": [
+          0.053582001477479935,
+          0.053367000073194504,
+          0.08250565081834793
+        ],
+        "min": [
+          -0.0535769984126091,
+          -0.05355599895119667,
+          0.0005236500292085111
+        ]
+      },
+      "center_of_mass": [
+        9.679555660113692e-05,
+        -0.00010228028986603022,
+        0.04002566635608673
+      ],
+      "collision": {},
+      "density": 2460.0,
+      "id": "part_00",
+      "inertia": [
+        0.0002087651373585686,
+        0.00020951115584466606,
+        0.00024962483439594507
+      ],
+      "mass": 0.13,
+      "material": "ceramic",
+      "name": "D00838 Sugar Jar",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00838 Sugar Jar",
+        "part_name": "D00838 Sugar Jar"
+      },
+      "volume": 5.284552651692212e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.10715899989008904,
+        0.10692299902439117,
+        0.08198200078913942
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.13
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00899 Juice Box/IsaacSim_assets_6a7b91c1b56a872fd77be402/physics_6a7b91c1b56a872fd77be402.json b/batch26/D00899 Juice Box/IsaacSim_assets_6a7b91c1b56a872fd77be402/physics_6a7b91c1b56a872fd77be402.json
new file mode 100644
index 0000000000000000000000000000000000000000..a10415740611a4b88fb85a45e5e5eaeb72a547e5
--- /dev/null
+++ b/batch26/D00899 Juice Box/IsaacSim_assets_6a7b91c1b56a872fd77be402/physics_6a7b91c1b56a872fd77be402.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03729800134897232,
+        0.03745799884200096,
+        0.19677239656448364
+      ],
+      "min": [
+        -0.027094999328255653,
+        -0.041103001683950424,
+        0.0007124106050468981
+      ],
+      "size": [
+        0.06439300067722797,
+        0.07856100052595139,
+        0.19605998595943674
+      ]
+    },
+    "description": "D00899 Juice Box",
+    "name": "D00899 Juice Box",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.32
+  },
+  "asset_id": "D00899",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.005101501010358334,
+          -0.0018225014209747314,
+          0.09874240358476527
+        ],
+        "max": [
+          0.03729800134897232,
+          0.03745799884200096,
+          0.19677239656448364
+        ],
+        "min": [
+          -0.027094999328255653,
+          -0.041103001683950424,
+          0.0007124106050468981
+        ]
+      },
+      "center_of_mass": [
+        0.002306079724803567,
+        -0.00101295521017164,
+        0.08232158422470093
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        0.0008522772695869207,
+        0.0031930485274642706,
+        0.003403961891308427
+      ],
+      "mass": 1.32,
+      "material": "plastic",
+      "name": "D00899 Juice Box",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00899 Juice Box",
+        "part_name": "D00899 Juice Box"
+      },
+      "volume": 0.0013200000524520874
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.06439300067722797,
+        0.07856100052595139,
+        0.19605998595943674
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.32
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch26/D00928 Spoon/IsaacSim_assets_6a7d3cebb7a9c4204a67ec8b/physics_6a7d3cebb7a9c4204a67ec8b.json b/batch26/D00928 Spoon/IsaacSim_assets_6a7d3cebb7a9c4204a67ec8b/physics_6a7d3cebb7a9c4204a67ec8b.json
new file mode 100644
index 0000000000000000000000000000000000000000..83d2b37ec96dbc654a1fa69293bcc4ecac6935a1
--- /dev/null
+++ b/batch26/D00928 Spoon/IsaacSim_assets_6a7d3cebb7a9c4204a67ec8b/physics_6a7d3cebb7a9c4204a67ec8b.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.10839799791574478,
+        0.02404399961233139,
+        0.018031610175967216
+      ],
+      "min": [
+        -0.056634001433849335,
+        -0.023861000314354897,
+        0.0007506099645979702
+      ],
+      "size": [
+        0.16503199934959412,
+        0.04790499992668629,
+        0.017281000211369246
+      ]
+    },
+    "description": "D00928 Spoon",
+    "name": "D00928 Spoon",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.085
+  },
+  "asset_id": "D00928",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.025881998240947723,
+          9.149964898824692e-05,
+          0.009391110070282593
+        ],
+        "max": [
+          0.10839799791574478,
+          0.02404399961233139,
+          0.018031610175967216
+        ],
+        "min": [
+          -0.056634001433849335,
+          -0.023861000314354897,
+          0.0007506099645979702
+        ]
+      },
+      "center_of_mass": [
+        0.008190982975065708,
+        0.00010477913019713014,
+        0.00795775931328535
+      ],
+      "collision": {},
+      "density": 8000.0,
+      "id": "part_00",
+      "inertia": [
+        8.344558409589808e-06,
+        0.00012502475874498487,
+        0.00013156069326214492
+      ],
+      "mass": 0.085,
+      "material": "metal",
+      "name": "D00928 Spoon",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00928 Spoon",
+        "part_name": "D00928 Spoon"
+      },
+      "volume": 1.0625000111758709e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.16503199934959412,
+        0.04790499992668629,
+        0.017281000211369246
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.085
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00562 Salt Pig/IsaacSim_assets_6a79abc9d43e189605385aae/physics_6a79abc9d43e189605385aae.json b/batch28/D00562 Salt Pig/IsaacSim_assets_6a79abc9d43e189605385aae/physics_6a79abc9d43e189605385aae.json
new file mode 100644
index 0000000000000000000000000000000000000000..02672919125fa9ceefb23a6cf9b33286d4cdbe71
--- /dev/null
+++ b/batch28/D00562 Salt Pig/IsaacSim_assets_6a79abc9d43e189605385aae/physics_6a79abc9d43e189605385aae.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.060869000852108,
+        0.052689000964164734,
+        0.12705814838409424
+      ],
+      "min": [
+        -0.060683999210596085,
+        -0.06902699917554855,
+        0.0006031498778611422
+      ],
+      "size": [
+        0.12155300006270409,
+        0.12171600013971329,
+        0.1264549985062331
+      ]
+    },
+    "description": "D00562 Salt Pig",
+    "name": "D00562 Salt Pig",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.821
+  },
+  "asset_id": "D00562",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          9.250082075595856e-05,
+          -0.00816899910569191,
+          0.06383064913097769
+        ],
+        "max": [
+          0.060869000852108,
+          0.052689000964164734,
+          0.12705814838409424
+        ],
+        "min": [
+          -0.060683999210596085,
+          -0.06902699917554855,
+          0.0006031498778611422
+        ]
+      },
+      "center_of_mass": [
+        5.491275078384206e-05,
+        -0.006439646705985069,
+        0.05761922150850296
+      ],
+      "collision": {},
+      "density": 8000.0,
+      "id": "part_00",
+      "inertia": [
+        0.0014106215676292777,
+        0.0016427499940618873,
+        0.0016446138033643365
+      ],
+      "mass": 0.821,
+      "material": "metal",
+      "name": "D00562 Salt Pig",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00562 Salt Pig",
+        "part_name": "D00562 Salt Pig"
+      },
+      "volume": 0.00010262499749660491
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.12155300006270409,
+        0.12171600013971329,
+        0.1264549985062331
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.821
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00564 Steamer Rack/IsaacSim_assets_6a79accdd43e1896053886e9/physics_6a79accdd43e1896053886e9.json b/batch28/D00564 Steamer Rack/IsaacSim_assets_6a79accdd43e1896053886e9/physics_6a79accdd43e1896053886e9.json
new file mode 100644
index 0000000000000000000000000000000000000000..baa41f830d58a58c3c1f4c2a92c7057f0c5a7c19
--- /dev/null
+++ b/batch28/D00564 Steamer Rack/IsaacSim_assets_6a79accdd43e1896053886e9/physics_6a79accdd43e1896053886e9.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.13968299329280853,
+        0.12376400083303452,
+        0.08164212107658386
+      ],
+      "min": [
+        -0.13549800217151642,
+        -0.12504899501800537,
+        0.0013561239466071129
+      ],
+      "size": [
+        0.27518099546432495,
+        0.2488129958510399,
+        0.08028599712997675
+      ]
+    },
+    "description": "D00564 Steamer Rack",
+    "name": "D00564 Steamer Rack",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.88
+  },
+  "asset_id": "D00564",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.002092495560646057,
+          -0.0006424970924854279,
+          0.04149912251159549
+        ],
+        "max": [
+          0.13968299329280853,
+          0.12376400083303452,
+          0.08164212107658386
+        ],
+        "min": [
+          -0.13549800217151642,
+          -0.12504899501800537,
+          0.0013561239466071129
+        ]
+      },
+      "center_of_mass": [
+        0.002434808062389493,
+        0.003817009273916483,
+        0.04616842791438103
+      ],
+      "collision": {},
+      "density": 8000.0,
+      "id": "part_00",
+      "inertia": [
+        0.006813847925513983,
+        0.007254675962030888,
+        0.012168390676379204
+      ],
+      "mass": 1.88,
+      "material": "metal",
+      "name": "D00564 Steamer Rack",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00564 Steamer Rack",
+        "part_name": "D00564 Steamer Rack"
+      },
+      "volume": 0.00023499999940395356
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.27518099546432495,
+        0.2488129958510399,
+        0.08028599712997675
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.88
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00568 Toast Rack/IsaacSim_assets_6a79b02ed43e18960539023e/physics_6a79b02ed43e18960539023e.json b/batch28/D00568 Toast Rack/IsaacSim_assets_6a79b02ed43e18960539023e/physics_6a79b02ed43e18960539023e.json
new file mode 100644
index 0000000000000000000000000000000000000000..5266afa02661dacdcc5763e34ae39c164277aaac
--- /dev/null
+++ b/batch28/D00568 Toast Rack/IsaacSim_assets_6a79b02ed43e18960539023e/physics_6a79b02ed43e18960539023e.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.09641499817371368,
+        0.050338998436927795,
+        0.11694814264774323
+      ],
+      "min": [
+        -0.09638900309801102,
+        -0.05033000186085701,
+        0.0007641399861313403
+      ],
+      "size": [
+        0.1928040012717247,
+        0.1006690002977848,
+        0.11618400266161188
+      ]
+    },
+    "description": "D00568 Toast Rack",
+    "name": "D00568 Toast Rack",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.556
+  },
+  "asset_id": "D00568",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          1.2997537851333618e-05,
+          4.498288035392761e-06,
+          0.05885614131693728
+        ],
+        "max": [
+          0.09641499817371368,
+          0.050338998436927795,
+          0.11694814264774323
+        ],
+        "min": [
+          -0.09638900309801102,
+          -0.05033000186085701,
+          0.0007641399861313403
+        ]
+      },
+      "center_of_mass": [
+        3.288543302915059e-05,
+        9.128106466960162e-05,
+        0.045929089188575745
+      ],
+      "collision": {},
+      "density": 7900.0,
+      "id": "part_00",
+      "inertia": [
+        0.000803912989795208,
+        0.001829018467105925,
+        0.0019758339039981365
+      ],
+      "mass": 0.556,
+      "material": "metal",
+      "name": "D00568 Toast Rack",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00568 Toast Rack",
+        "part_name": "D00568 Toast Rack"
+      },
+      "volume": 7.037974611113343e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.1928040012717247,
+        0.1006690002977848,
+        0.11618400266161188
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.556
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00580 Guava/IsaacSim_assets_6a7c76e0b7a9c4204a4e927f/physics_6a7c76e0b7a9c4204a4e927f.json b/batch28/D00580 Guava/IsaacSim_assets_6a7c76e0b7a9c4204a4e927f/physics_6a7c76e0b7a9c4204a4e927f.json
new file mode 100644
index 0000000000000000000000000000000000000000..044c7e5445bd76e2fcb0ac041c5da422242a8070
--- /dev/null
+++ b/batch28/D00580 Guava/IsaacSim_assets_6a7c76e0b7a9c4204a4e927f/physics_6a7c76e0b7a9c4204a4e927f.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.022766999900341034,
+        0.024111999198794365,
+        0.058354757726192474
+      ],
+      "min": [
+        -0.024248000234365463,
+        -0.022048000246286392,
+        0.00026375995366834104
+      ],
+      "size": [
+        0.0470150001347065,
+        0.04615999944508076,
+        0.05809099777252413
+      ]
+    },
+    "description": "D00580 Guava",
+    "name": "D00580 Guava",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.26
+  },
+  "asset_id": "D00580",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0007405001670122147,
+          0.0010319994762539864,
+          0.029309258839930408
+        ],
+        "max": [
+          0.022766999900341034,
+          0.024111999198794365,
+          0.058354757726192474
+        ],
+        "min": [
+          -0.024248000234365463,
+          -0.022048000246286392,
+          0.00026375995366834104
+        ]
+      },
+      "center_of_mass": [
+        7.220652378236991e-07,
+        0.0001508365967310965,
+        0.02780289202928543
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        5.4132717195898294e-05,
+        6.951474642846733e-05,
+        7.064549572532997e-05
+      ],
+      "mass": 0.26,
+      "material": "plastic",
+      "name": "D00580 Guava",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00580 Guava",
+        "part_name": "D00580 Guava"
+      },
+      "volume": 0.00025999999046325684
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.0470150001347065,
+        0.04615999944508076,
+        0.05809099777252413
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.26
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00581 Passion_Fruit/IsaacSim_assets_6a7d64276f9ad287c09e3d8d/physics_6a7d64276f9ad287c09e3d8d.json b/batch28/D00581 Passion_Fruit/IsaacSim_assets_6a7d64276f9ad287c09e3d8d/physics_6a7d64276f9ad287c09e3d8d.json
new file mode 100644
index 0000000000000000000000000000000000000000..adb6da51929bda4208df904c661cae7eca05a59d
--- /dev/null
+++ b/batch28/D00581 Passion_Fruit/IsaacSim_assets_6a7d64276f9ad287c09e3d8d/physics_6a7d64276f9ad287c09e3d8d.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03655282,
+        0.08354858,
+        0.03584777
+      ],
+      "min": [
+        -0.0365526,
+        0.0,
+        -0.03654702
+      ],
+      "size": [
+        0.07310542,
+        0.08354858,
+        0.07239479
+      ]
+    },
+    "description": "A deep purple passion fruit featuring a slightly textured, leathery exterior and a small brown stem node at the top.",
+    "name": "D00581 Passion Fruit",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.06
+  },
+  "asset_id": "D00581",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00035049289307166,
+          0.04183710109616337,
+          -0.0002685236460406028
+        ],
+        "max": [
+          0.03655282,
+          0.08354858,
+          0.03584777
+        ],
+        "min": [
+          -0.0365526,
+          0.0,
+          -0.03654702
+        ]
+      },
+      "center_of_mass": [
+        0.0003576367432323458,
+        0.00029138837278941984,
+        0.04174900672075048
+      ],
+      "collision": {},
+      "density": 230.0,
+      "id": "part_00",
+      "inertia": [
+        3.198594994619694e-05,
+        3.820647370155862e-05,
+        3.8668858911021594e-05
+      ],
+      "mass": 0.06,
+      "material": "leathery_fruit_rind",
+      "name": "D00581 Passion Fruit",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00581 Passion Fruit",
+        "part_name": "D00581 Passion Fruit"
+      },
+      "volume": 0.00024088237577472925
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.07310542,
+        0.08354858,
+        0.07239479
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.06
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00582 Knife Sharpener/IsaacSim_assets_6a7a8fc1b56a872fd7673540/physics_6a7a8fc1b56a872fd7673540.json b/batch28/D00582 Knife Sharpener/IsaacSim_assets_6a7a8fc1b56a872fd7673540/physics_6a7a8fc1b56a872fd7673540.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8c8276d622b24da3f33ed5bbad2971a23cb231d
--- /dev/null
+++ b/batch28/D00582 Knife Sharpener/IsaacSim_assets_6a7a8fc1b56a872fd7673540/physics_6a7a8fc1b56a872fd7673540.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.12003199756145477,
+        0.023826999589800835,
+        0.06601009517908096
+      ],
+      "min": [
+        -0.07892599701881409,
+        -0.023832999169826508,
+        0.0010750906076282263
+      ],
+      "size": [
+        0.19895799458026886,
+        0.04765999875962734,
+        0.06493500457145274
+      ]
+    },
+    "description": "D00582 Knife Sharpener",
+    "name": "D00582 Knife Sharpener",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.2
+  },
+  "asset_id": "D00582",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.020553000271320343,
+          -2.9997900128364563e-06,
+          0.033542592893354595
+        ],
+        "max": [
+          0.12003199756145477,
+          0.023826999589800835,
+          0.06601009517908096
+        ],
+        "min": [
+          -0.07892599701881409,
+          -0.023832999169826508,
+          0.0010750906076282263
+        ]
+      },
+      "center_of_mass": [
+        0.011931601911783218,
+        1.1497397281345911e-05,
+        0.02763298898935318
+      ],
+      "collision": {},
+      "density": 3913.0,
+      "id": "part_00",
+      "inertia": [
+        7.747367635602131e-05,
+        0.0005489127361215651,
+        0.0005815902259200811
+      ],
+      "mass": 0.2,
+      "material": "glass",
+      "name": "D00582 Knife Sharpener",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00582 Knife Sharpener",
+        "part_name": "D00582 Knife Sharpener"
+      },
+      "volume": 5.111167978027913e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.19895799458026886,
+        0.04765999875962734,
+        0.06493500457145274
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.2
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00635 Popcorn/IsaacSim_assets_69f61f32431507ff7c0c2e3e/physics_69f61f32431507ff7c0c2e3e.json b/batch28/D00635 Popcorn/IsaacSim_assets_69f61f32431507ff7c0c2e3e/physics_69f61f32431507ff7c0c2e3e.json
new file mode 100644
index 0000000000000000000000000000000000000000..2caf7cb3fc521c1a6110b4f160741195da21fc83
--- /dev/null
+++ b/batch28/D00635 Popcorn/IsaacSim_assets_69f61f32431507ff7c0c2e3e/physics_69f61f32431507ff7c0c2e3e.json	
@@ -0,0 +1,110 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.0221774410456419,
+        0.020307118073105812,
+        0.03643999993801117
+      ],
+      "min": [
+        -0.016769954934716225,
+        -0.014310087077319622,
+        1.774452903191559e-05
+      ],
+      "size": [
+        0.038947395980358124,
+        0.034617205150425434,
+        0.036422255408979254
+      ]
+    },
+    "description": "A single piece of popped popcorn with an irregular, fluffy white shape and slightly browned inner crevices.",
+    "name": "D00635 Popcorn",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.0003
+  },
+  "asset_id": "D00635",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00029990685862333434,
+          0.0008680174037260156,
+          0.017092231504571936
+        ],
+        "max": [
+          0.0221774410456419,
+          0.020307118073105812,
+          0.03643999993801117
+        ],
+        "min": [
+          -0.016769954934716225,
+          -0.014310087077319622,
+          1.774452903191559e-05
+        ]
+      },
+      "center_of_mass": [
+        0.0008012550109075363,
+        0.0011513847901488778,
+        0.01717269056645329
+      ],
+      "collision": {},
+      "density": 40.0,
+      "id": "part_00",
+      "inertia": [
+        3.672331472753966e-08,
+        3.980069066407914e-08,
+        4.4181970012917095e-08
+      ],
+      "mass": 0.0003,
+      "material": "popped_corn",
+      "name": "D00635 Popcorn",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00635 Popcorn",
+        "part_name": "D00635 Popcorn"
+      },
+      "volume": 2.3730940051662673e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {},
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.038947395980358124,
+        0.034617205150425434,
+        0.036422255408979254
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.0003
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00642_Leek/IsaacSim_assets_6a7c41e3b7a9c4204a496728/physics_6a7c41e3b7a9c4204a496728.json b/batch28/D00642_Leek/IsaacSim_assets_6a7c41e3b7a9c4204a496728/physics_6a7c41e3b7a9c4204a496728.json
new file mode 100644
index 0000000000000000000000000000000000000000..37a7120b0ace4b865816ac427c5eda79510ad3f3
--- /dev/null
+++ b/batch28/D00642_Leek/IsaacSim_assets_6a7c41e3b7a9c4204a496728/physics_6a7c41e3b7a9c4204a496728.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.16257500648498535,
+        0.057367000728845596,
+        0.059907130897045135
+      ],
+      "min": [
+        -0.16339600086212158,
+        -0.05642300099134445,
+        0.0014841302763670683
+      ],
+      "size": [
+        0.32597100734710693,
+        0.11379000172019005,
+        0.05842300062067807
+      ]
+    },
+    "description": "D00642 Leek",
+    "name": "D00642 Leek",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.325
+  },
+  "asset_id": "D00642",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00041049718856811523,
+          0.0004719998687505722,
+          0.030695630586706102
+        ],
+        "max": [
+          0.16257500648498535,
+          0.057367000728845596,
+          0.059907130897045135
+        ],
+        "min": [
+          -0.16339600086212158,
+          -0.05642300099134445,
+          0.0014841302763670683
+        ]
+      },
+      "center_of_mass": [
+        0.022212374955415726,
+        0.005798056721687317,
+        0.029674671590328217
+      ],
+      "collision": {},
+      "density": 950.0,
+      "id": "part_00",
+      "inertia": [
+        0.0002243191411253065,
+        0.0026655562687665224,
+        0.002781239338219166
+      ],
+      "mass": 0.325,
+      "material": "plastic",
+      "name": "D00642 Leek",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00642 Leek",
+        "part_name": "D00642 Leek"
+      },
+      "volume": 0.00034210525060954846
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.32597100734710693,
+        0.11379000172019005,
+        0.05842300062067807
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.325
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00643_Pot_Kettle_Pan/IsaacSim_assets_6a7c1789b56a872fd786ca05/physics_6a7c1789b56a872fd786ca05.json b/batch28/D00643_Pot_Kettle_Pan/IsaacSim_assets_6a7c1789b56a872fd786ca05/physics_6a7c1789b56a872fd786ca05.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c510b742c681b10f57c7809f662fae75e71efdb
--- /dev/null
+++ b/batch28/D00643_Pot_Kettle_Pan/IsaacSim_assets_6a7c1789b56a872fd786ca05/physics_6a7c1789b56a872fd786ca05.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.1733669936656952,
+        0.09577500075101852,
+        0.06872866302728653
+      ],
+      "min": [
+        -0.11360300332307816,
+        -0.09543599933385849,
+        0.0015516598941758275
+      ],
+      "size": [
+        0.28696999698877335,
+        0.19121100008487701,
+        0.0671770031331107
+      ]
+    },
+    "description": "D00643 Pot Kettle Pan",
+    "name": "D00643 Pot Kettle Pan",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.67
+  },
+  "asset_id": "D00643",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.029881995171308517,
+          0.0001695007085800171,
+          0.03514016146073118
+        ],
+        "max": [
+          0.1733669936656952,
+          0.09577500075101852,
+          0.06872866302728653
+        ],
+        "min": [
+          -0.11360300332307816,
+          -0.09543599933385849,
+          0.0015516598941758275
+        ]
+      },
+      "center_of_mass": [
+        0.0032212180085480213,
+        0.00010499329073354602,
+        0.029720747843384743
+      ],
+      "collision": {},
+      "density": 2500.0,
+      "id": "part_00",
+      "inertia": [
+        0.002096370095387101,
+        0.0037704266142100096,
+        0.005310811568051577
+      ],
+      "mass": 0.67,
+      "material": "ceramic",
+      "name": "D00643 Pot Kettle Pan",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00643 Pot Kettle Pan",
+        "part_name": "D00643 Pot Kettle Pan"
+      },
+      "volume": 0.0002680000066757202
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.28696999698877335,
+        0.19121100008487701,
+        0.0671770031331107
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.67
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00656_Burger_Press/IsaacSim_assets_6a7c22d8b56a872fd78a8f16/physics_6a7c22d8b56a872fd78a8f16.json b/batch28/D00656_Burger_Press/IsaacSim_assets_6a7c22d8b56a872fd78a8f16/physics_6a7c22d8b56a872fd78a8f16.json
new file mode 100644
index 0000000000000000000000000000000000000000..11125a111640c44bb9d32e8899b89a8e2e4fdf45
--- /dev/null
+++ b/batch28/D00656_Burger_Press/IsaacSim_assets_6a7c22d8b56a872fd78a8f16/physics_6a7c22d8b56a872fd78a8f16.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.118258997797966,
+        0.1180109977722168,
+        0.11480146646499634
+      ],
+      "min": [
+        -0.11739999800920486,
+        -0.11784999817609787,
+        0.0012504697078838944
+      ],
+      "size": [
+        0.23565899580717087,
+        0.23586099594831467,
+        0.11355099675711244
+      ]
+    },
+    "description": "D00656 Burger Press",
+    "name": "D00656 Burger Press",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.68
+  },
+  "asset_id": "D00656",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00042949989438056946,
+          8.04997980594635e-05,
+          0.058025968086440116
+        ],
+        "max": [
+          0.118258997797966,
+          0.1180109977722168,
+          0.11480146646499634
+        ],
+        "min": [
+          -0.11739999800920486,
+          -0.11784999817609787,
+          0.0012504697078838944
+        ]
+      },
+      "center_of_mass": [
+        0.00042821618262678385,
+        7.348483632085845e-05,
+        0.04255668818950653
+      ],
+      "collision": {},
+      "density": 7200.0,
+      "id": "part_00",
+      "inertia": [
+        0.005234168842434883,
+        0.006816451903432608,
+        0.00946239847689867
+      ],
+      "mass": 1.68,
+      "material": "metal",
+      "name": "D00656 Burger Press",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00656 Burger Press",
+        "part_name": "D00656 Burger Press"
+      },
+      "volume": 0.0002333333260483212
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.23565899580717087,
+        0.23586099594831467,
+        0.11355099675711244
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.68
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00685_Salt_Container/IsaacSim_assets_6a7c18aab56a872fd786f664/physics_6a7c18aab56a872fd786f664.json b/batch28/D00685_Salt_Container/IsaacSim_assets_6a7c18aab56a872fd786f664/physics_6a7c18aab56a872fd786f664.json
new file mode 100644
index 0000000000000000000000000000000000000000..c05c9d6845863cb5f36405e596c08c9c34815a42
--- /dev/null
+++ b/batch28/D00685_Salt_Container/IsaacSim_assets_6a7c18aab56a872fd786f664/physics_6a7c18aab56a872fd786f664.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.056641001254320145,
+        0.05721500143408775,
+        0.09236175566911697
+      ],
+      "min": [
+        -0.057211000472307205,
+        -0.05669400095939636,
+        0.0005097600515000522
+      ],
+      "size": [
+        0.11385200172662735,
+        0.11390900239348412,
+        0.09185199561761692
+      ]
+    },
+    "description": "D00685 Salt Container",
+    "name": "D00685 Salt Container",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.159
+  },
+  "asset_id": "D00685",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0002849996089935303,
+          0.0002605002373456955,
+          0.04643575786030851
+        ],
+        "max": [
+          0.056641001254320145,
+          0.05721500143408775,
+          0.09236175566911697
+        ],
+        "min": [
+          -0.057211000472307205,
+          -0.05669400095939636,
+          0.0005097600515000522
+        ]
+      },
+      "center_of_mass": [
+        -8.3194172475487e-05,
+        0.0003572253917809576,
+        0.040307629853487015
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.0003275330818723887,
+        0.0003278148069512099,
+        0.0004017030296381563
+      ],
+      "mass": 0.159,
+      "material": "ceramic",
+      "name": "D00685 Salt Container",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00685 Salt Container",
+        "part_name": "D00685 Salt Container"
+      },
+      "volume": 6.624999766548474e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.11385200172662735,
+        0.11390900239348412,
+        0.09185199561761692
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.159
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00695 Dipping Bowl/IsaacSim_assets_6a7bc06eb56a872fd77d8be9/physics_6a7bc06eb56a872fd77d8be9.json b/batch28/D00695 Dipping Bowl/IsaacSim_assets_6a7bc06eb56a872fd77d8be9/physics_6a7bc06eb56a872fd77d8be9.json
new file mode 100644
index 0000000000000000000000000000000000000000..298e5ec5a4f599384c8abc5922b4b33023e7d9b6
--- /dev/null
+++ b/batch28/D00695 Dipping Bowl/IsaacSim_assets_6a7bc06eb56a872fd77d8be9/physics_6a7bc06eb56a872fd77d8be9.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.04515000060200691,
+        0.04514399915933609,
+        0.03802509978413582
+      ],
+      "min": [
+        -0.0451200008392334,
+        -0.04513400048017502,
+        0.00043809995986521244
+      ],
+      "size": [
+        0.09027000144124031,
+        0.09027799963951111,
+        0.037586999824270606
+      ]
+    },
+    "description": "D00695 Dipping Bowl",
+    "name": "D00695 Dipping Bowl",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.042
+  },
+  "asset_id": "D00695",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          1.4999881386756897e-05,
+          4.999339580535889e-06,
+          0.019231599872000515
+        ],
+        "max": [
+          0.04515000060200691,
+          0.04514399915933609,
+          0.03802509978413582
+        ],
+        "min": [
+          -0.0451200008392334,
+          -0.04513400048017502,
+          0.00043809995986521244
+        ]
+      },
+      "center_of_mass": [
+        1.7026259229169227e-05,
+        -3.4030425013042986e-05,
+        0.021917646750807762
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        2.2177993741934188e-05,
+        2.2219623133423738e-05,
+        3.582724821171723e-05
+      ],
+      "mass": 0.042,
+      "material": "ceramic",
+      "name": "D00695 Dipping Bowl",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00695 Dipping Bowl",
+        "part_name": "D00695 Dipping Bowl"
+      },
+      "volume": 1.7499999764064948e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.09027000144124031,
+        0.09027799963951111,
+        0.037586999824270606
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.042
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00707_Saucepan_Teapot/IsaacSim_assets_6a7c047eb56a872fd78457f7/physics_6a7c047eb56a872fd78457f7.json b/batch28/D00707_Saucepan_Teapot/IsaacSim_assets_6a7c047eb56a872fd78457f7/physics_6a7c047eb56a872fd78457f7.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7eb76fe3430b145dd588637b6b70759f020eec6
--- /dev/null
+++ b/batch28/D00707_Saucepan_Teapot/IsaacSim_assets_6a7c047eb56a872fd78457f7/physics_6a7c047eb56a872fd78457f7.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.21155400574207306,
+        0.07877600193023682,
+        0.08494898676872253
+      ],
+      "min": [
+        -0.10048499703407288,
+        -0.0782729983329773,
+        0.0015509899239987135
+      ],
+      "size": [
+        0.31203900277614594,
+        0.1570490002632141,
+        0.08339799684472382
+      ]
+    },
+    "description": "D00707 Saucepan Teapot",
+    "name": "D00707 Saucepan Teapot",
+    "object_type": "rigid_bodies",
+    "total_mass": 2.07
+  },
+  "asset_id": "D00707",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.05553450435400009,
+          0.00025150179862976074,
+          0.043249988346360624
+        ],
+        "max": [
+          0.21155400574207306,
+          0.07877600193023682,
+          0.08494898676872253
+        ],
+        "min": [
+          -0.10048499703407288,
+          -0.0782729983329773,
+          0.0015509899239987135
+        ]
+      },
+      "center_of_mass": [
+        0.012428607791662216,
+        0.00023597615654580295,
+        0.04778566211462021
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_00",
+      "inertia": [
+        0.0035274173133075237,
+        0.00974302738904953,
+        0.011203261092305183
+      ],
+      "mass": 2.07,
+      "material": "metal",
+      "name": "D00707 Saucepan Teapot",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00707 Saucepan Teapot",
+        "part_name": "D00707 Saucepan Teapot"
+      },
+      "volume": 0.00026538460682599973
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.31203900277614594,
+        0.1570490002632141,
+        0.08339799684472382
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 2.07
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00709_Saucepan_Wooden_Spoon_Knife/IsaacSim_assets_6a7c0595b56a872fd7847aa3/physics_6a7c0595b56a872fd7847aa3.json b/batch28/D00709_Saucepan_Wooden_Spoon_Knife/IsaacSim_assets_6a7c0595b56a872fd7847aa3/physics_6a7c0595b56a872fd7847aa3.json
new file mode 100644
index 0000000000000000000000000000000000000000..d530cb622f09e9f45eda3732ea4f5b61e0dfc079
--- /dev/null
+++ b/batch28/D00709_Saucepan_Wooden_Spoon_Knife/IsaacSim_assets_6a7c0595b56a872fd7847aa3/physics_6a7c0595b56a872fd7847aa3.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.17978200316429138,
+        0.03361399844288826,
+        0.019044771790504456
+      ],
+      "min": [
+        -0.11740200221538544,
+        -0.03317800164222717,
+        0.0008207709179259837
+      ],
+      "size": [
+        0.2971840053796768,
+        0.06679200008511543,
+        0.018224000872578472
+      ]
+    },
+    "description": "D00709 Saucepan Wooden Spoon Knife",
+    "name": "D00709 Saucepan Wooden Spoon Knife",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.041
+  },
+  "asset_id": "D00709",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.031190000474452972,
+          0.00021799840033054352,
+          0.00993277135421522
+        ],
+        "max": [
+          0.17978200316429138,
+          0.03361399844288826,
+          0.019044771790504456
+        ],
+        "min": [
+          -0.11740200221538544,
+          -0.03317800164222717,
+          0.0008207709179259837
+        ]
+      },
+      "center_of_mass": [
+        0.014181647449731827,
+        -9.134517313214019e-05,
+        0.0104138795286417
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_00",
+      "inertia": [
+        8.259307833213825e-06,
+        0.00023900599626358598,
+        0.00024565038620494306
+      ],
+      "mass": 0.041,
+      "material": "wood",
+      "name": "D00709 Saucepan Wooden Spoon Knife",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00709 Saucepan Wooden Spoon Knife",
+        "part_name": "D00709 Saucepan Wooden Spoon Knife"
+      },
+      "volume": 5.857143018926893e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.2971840053796768,
+        0.06679200008511543,
+        0.018224000872578472
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.041
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00712_Scale/IsaacSim_assets_6a7c06bcb56a872fd7849ba0/physics_6a7c06bcb56a872fd7849ba0.json b/batch28/D00712_Scale/IsaacSim_assets_6a7c06bcb56a872fd7849ba0/physics_6a7c06bcb56a872fd7849ba0.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd46eab8bbbb9edb45dadcf7ff2284543df92fbe
--- /dev/null
+++ b/batch28/D00712_Scale/IsaacSim_assets_6a7c06bcb56a872fd7849ba0/physics_6a7c06bcb56a872fd7849ba0.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.08083999902009964,
+        0.10259900242090225,
+        0.057836879044771194
+      ],
+      "min": [
+        -0.08106499910354614,
+        -0.1106249988079071,
+        0.001117879175581038
+      ],
+      "size": [
+        0.16190499812364578,
+        0.21322400122880936,
+        0.056718999869190156
+      ]
+    },
+    "description": "D00712 Scale",
+    "name": "D00712 Scale",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.4
+  },
+  "asset_id": "D00712",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00011250004172325134,
+          -0.004012998193502426,
+          0.029477379110176116
+        ],
+        "max": [
+          0.08083999902009964,
+          0.10259900242090225,
+          0.057836879044771194
+        ],
+        "min": [
+          -0.08106499910354614,
+          -0.1106249988079071,
+          0.001117879175581038
+        ]
+      },
+      "center_of_mass": [
+        -0.00014228519285097718,
+        0.002626750385388732,
+        0.028325442224740982
+      ],
+      "collision": {},
+      "density": 800.0,
+      "id": "part_00",
+      "inertia": [
+        0.0008809790597297251,
+        0.0013586401473730803,
+        0.0020468144211918116
+      ],
+      "mass": 0.4,
+      "material": "wood",
+      "name": "D00712 Scale",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00712 Scale",
+        "part_name": "D00712 Scale"
+      },
+      "volume": 0.0005000000074505806
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.16190499812364578,
+        0.21322400122880936,
+        0.056718999869190156
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.4
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00761_Plantain/IsaacSim_assets_6a7c2ebcb56a872fd78d303d/physics_6a7c2ebcb56a872fd78d303d.json b/batch28/D00761_Plantain/IsaacSim_assets_6a7c2ebcb56a872fd78d303d/physics_6a7c2ebcb56a872fd78d303d.json
new file mode 100644
index 0000000000000000000000000000000000000000..10440443be7eeea1ab205380a90d60e27cc296af
--- /dev/null
+++ b/batch28/D00761_Plantain/IsaacSim_assets_6a7c2ebcb56a872fd78d303d/physics_6a7c2ebcb56a872fd78d303d.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.10172899812459946,
+        0.022390000522136688,
+        0.11006796360015869
+      ],
+      "min": [
+        -0.08980800211429596,
+        -0.02285199984908104,
+        0.0007769602234475315
+      ],
+      "size": [
+        0.19153700023889542,
+        0.04524200037121773,
+        0.10929100337671116
+      ]
+    },
+    "description": "D00761 Plantain",
+    "name": "D00761 Plantain",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.25
+  },
+  "asset_id": "D00761",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.005960498005151749,
+          -0.0002309996634721756,
+          0.05542246191180311
+        ],
+        "max": [
+          0.10172899812459946,
+          0.022390000522136688,
+          0.11006796360015869
+        ],
+        "min": [
+          -0.08980800211429596,
+          -0.02285199984908104,
+          0.0007769602234475315
+        ]
+      },
+      "center_of_mass": [
+        0.002476353896781802,
+        0.0002652014954946935,
+        0.034874044358730316
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        9.713476174511015e-05,
+        0.0005247531225904822,
+        0.0005681061302311718
+      ],
+      "mass": 0.25,
+      "material": "plastic",
+      "name": "D00761 Plantain",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00761 Plantain",
+        "part_name": "D00761 Plantain"
+      },
+      "volume": 0.00025
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.19153700023889542,
+        0.04524200037121773,
+        0.10929100337671116
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.25
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00802 Pizza/IsaacSim_assets_6a7bdec6b56a872fd780f334/physics_6a7bdec6b56a872fd780f334.json b/batch28/D00802 Pizza/IsaacSim_assets_6a7bdec6b56a872fd780f334/physics_6a7bdec6b56a872fd780f334.json
new file mode 100644
index 0000000000000000000000000000000000000000..bde2a4c386dd990bf5eb7b1f18d79607e64da964
--- /dev/null
+++ b/batch28/D00802 Pizza/IsaacSim_assets_6a7bdec6b56a872fd780f334/physics_6a7bdec6b56a872fd780f334.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.17344500124454498,
+        0.17312000691890717,
+        0.04877650737762451
+      ],
+      "min": [
+        -0.17246800661087036,
+        -0.17242200672626495,
+        0.0018845100421458483
+      ],
+      "size": [
+        0.34591300785541534,
+        0.3455420136451721,
+        0.04689199733547866
+      ]
+    },
+    "description": "D00802 Pizza",
+    "name": "D00802 Pizza",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.7
+  },
+  "asset_id": "D00802",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0004884973168373108,
+          0.00034900009632110596,
+          0.02533050870988518
+        ],
+        "max": [
+          0.17344500124454498,
+          0.17312000691890717,
+          0.04877650737762451
+        ],
+        "min": [
+          -0.17246800661087036,
+          -0.17242200672626495,
+          0.0018845100421458483
+        ]
+      },
+      "center_of_mass": [
+        0.00013293280790094286,
+        -0.0014319434994831681,
+        0.018548578023910522
+      ],
+      "collision": {},
+      "density": 1208.0,
+      "id": "part_00",
+      "inertia": [
+        0.005447467789053917,
+        0.005516069009900093,
+        0.010831881314516068
+      ],
+      "mass": 0.7,
+      "material": "plastic",
+      "name": "D00802 Pizza",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00802 Pizza",
+        "part_name": "D00802 Pizza"
+      },
+      "volume": 0.000579470188807178
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.34591300785541534,
+        0.3455420136451721,
+        0.04689199733547866
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.7
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00813 Taco/IsaacSim_assets_6a7b4a46b56a872fd777bdc4/physics_6a7b4a46b56a872fd777bdc4.json b/batch28/D00813 Taco/IsaacSim_assets_6a7b4a46b56a872fd777bdc4/physics_6a7b4a46b56a872fd777bdc4.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d2273baa5c1898dee02edb1479d8744cf71bf9e
--- /dev/null
+++ b/batch28/D00813 Taco/IsaacSim_assets_6a7b4a46b56a872fd777bdc4/physics_6a7b4a46b56a872fd777bdc4.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.10048499703407288,
+        0.05093500018119812,
+        0.0827682688832283
+      ],
+      "min": [
+        -0.09708999842405319,
+        -0.05428300052881241,
+        0.0010772701352834702
+      ],
+      "size": [
+        0.19757499545812607,
+        0.10521800071001053,
+        0.08169099874794483
+      ]
+    },
+    "description": "D00813 Taco",
+    "name": "D00813 Taco",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.187
+  },
+  "asset_id": "D00813",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.001697499305009842,
+          -0.0016740001738071442,
+          0.041922769509255886
+        ],
+        "max": [
+          0.10048499703407288,
+          0.05093500018119812,
+          0.0827682688832283
+        ],
+        "min": [
+          -0.09708999842405319,
+          -0.05428300052881241,
+          0.0010772701352834702
+        ]
+      },
+      "center_of_mass": [
+        0.00024573496193625033,
+        -0.0012524670455604792,
+        0.038209185004234314
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        0.00021190321422182024,
+        0.0004855679289903492,
+        0.0005423650145530701
+      ],
+      "mass": 0.187,
+      "material": "plastic",
+      "name": "D00813 Taco",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00813 Taco",
+        "part_name": "D00813 Taco"
+      },
+      "volume": 0.00018700000643730164
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.19757499545812607,
+        0.10521800071001053,
+        0.08169099874794483
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.187
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00819 Samosa/IsaacSim_assets_6a7b4a4ab56a872fd777be30/physics_6a7b4a4ab56a872fd777be30.json b/batch28/D00819 Samosa/IsaacSim_assets_6a7b4a4ab56a872fd777be30/physics_6a7b4a4ab56a872fd777be30.json
new file mode 100644
index 0000000000000000000000000000000000000000..cebbd12fd41f6b297f413452ec8e90d7033773d7
--- /dev/null
+++ b/batch28/D00819 Samosa/IsaacSim_assets_6a7b4a4ab56a872fd777be30/physics_6a7b4a4ab56a872fd777be30.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03981500118970871,
+        0.04850500077009201,
+        0.06320511549711227
+      ],
+      "min": [
+        -0.03650999814271927,
+        -0.029910000041127205,
+        0.0003731099423021078
+      ],
+      "size": [
+        0.07632499933242798,
+        0.07841500081121922,
+        0.06283200555481017
+      ]
+    },
+    "description": "D00819 Samosa",
+    "name": "D00819 Samosa",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.06
+  },
+  "asset_id": "D00819",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0016525015234947205,
+          0.009297500364482403,
+          0.03178911271970719
+        ],
+        "max": [
+          0.03981500118970871,
+          0.04850500077009201,
+          0.06320511549711227
+        ],
+        "min": [
+          -0.03650999814271927,
+          -0.029910000041127205,
+          0.0003731099423021078
+        ]
+      },
+      "center_of_mass": [
+        0.0010352624813094735,
+        0.003467774949967861,
+        0.019383128732442856
+      ],
+      "collision": {},
+      "density": 800.0,
+      "id": "part_00",
+      "inertia": [
+        2.2975293177296408e-05,
+        2.5121807993855327e-05,
+        2.8879234378109686e-05
+      ],
+      "mass": 0.06,
+      "material": "wood",
+      "name": "D00819 Samosa",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00819 Samosa",
+        "part_name": "D00819 Samosa"
+      },
+      "volume": 7.499999832361936e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.07632499933242798,
+        0.07841500081121922,
+        0.06283200555481017
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.06
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00822 Scone/IsaacSim_assets_6a7b6927b56a872fd779cc80/physics_6a7b6927b56a872fd779cc80.json b/batch28/D00822 Scone/IsaacSim_assets_6a7b6927b56a872fd779cc80/physics_6a7b6927b56a872fd779cc80.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d4f420a56362b2721c288136ce60d935cd9154a
--- /dev/null
+++ b/batch28/D00822 Scone/IsaacSim_assets_6a7b6927b56a872fd779cc80/physics_6a7b6927b56a872fd779cc80.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03806700184941292,
+        0.03803199902176857,
+        0.038906268775463104
+      ],
+      "min": [
+        -0.037039998918771744,
+        -0.037105001509189606,
+        0.0004112697206437588
+      ],
+      "size": [
+        0.07510700076818466,
+        0.07513700053095818,
+        0.038494999054819345
+      ]
+    },
+    "description": "D00822 Scone",
+    "name": "D00822 Scone",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.15
+  },
+  "asset_id": "D00822",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0005135014653205872,
+          0.0004634987562894821,
+          0.01965876924805343
+        ],
+        "max": [
+          0.03806700184941292,
+          0.03803199902176857,
+          0.038906268775463104
+        ],
+        "min": [
+          -0.037039998918771744,
+          -0.037105001509189606,
+          0.0004112697206437588
+        ]
+      },
+      "center_of_mass": [
+        0.00035888038109987974,
+        1.2528194929473102e-05,
+        0.016770705580711365
+      ],
+      "collision": {},
+      "density": 450.0,
+      "id": "part_00",
+      "inertia": [
+        6.061205567675643e-05,
+        6.082887193770148e-05,
+        9.239586506737396e-05
+      ],
+      "mass": 0.15,
+      "material": "foam",
+      "name": "D00822 Scone",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00822 Scone",
+        "part_name": "D00822 Scone"
+      },
+      "volume": 0.0003333333465788099
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.07510700076818466,
+        0.07513700053095818,
+        0.038494999054819345
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.15
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00842 Cup Noodles/IsaacSim_assets_6a7b692fb56a872fd779cd4a/physics_6a7b692fb56a872fd779cd4a.json b/batch28/D00842 Cup Noodles/IsaacSim_assets_6a7b692fb56a872fd779cd4a/physics_6a7b692fb56a872fd779cd4a.json
new file mode 100644
index 0000000000000000000000000000000000000000..4065d343e04d293c183e2c4f1007e7690bc001d5
--- /dev/null
+++ b/batch28/D00842 Cup Noodles/IsaacSim_assets_6a7b692fb56a872fd779cd4a/physics_6a7b692fb56a872fd779cd4a.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.0437140017747879,
+        0.043820999562740326,
+        0.0944250151515007
+      ],
+      "min": [
+        -0.043731000274419785,
+        -0.04370500147342682,
+        0.00047901272773742676
+      ],
+      "size": [
+        0.08744500204920769,
+        0.08752600103616714,
+        0.09394600242376328
+      ]
+    },
+    "description": "D00842 Cup Noodles",
+    "name": "D00842 Cup Noodles",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.075
+  },
+  "asset_id": "D00842",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -8.499249815940857e-06,
+          5.799904465675354e-05,
+          0.047452013939619064
+        ],
+        "max": [
+          0.0437140017747879,
+          0.043820999562740326,
+          0.0944250151515007
+        ],
+        "min": [
+          -0.043731000274419785,
+          -0.04370500147342682,
+          0.00047901272773742676
+        ]
+      },
+      "center_of_mass": [
+        -9.18600653676549e-06,
+        4.962303864886053e-05,
+        0.0529610812664032
+      ],
+      "collision": {},
+      "density": 75.0,
+      "id": "part_00",
+      "inertia": [
+        5.494079596246593e-05,
+        8.061341941356659e-05,
+        8.09042903711088e-05
+      ],
+      "mass": 0.075,
+      "material": "generic",
+      "name": "D00842 Cup Noodles",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00842 Cup Noodles",
+        "part_name": "D00842 Cup Noodles"
+      },
+      "volume": 0.0010000000397364299
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.08744500204920769,
+        0.08752600103616714,
+        0.09394600242376328
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.075
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00843 Sushi/IsaacSim_assets_6a71aa79cdde3c1658d58df9/physics_6a71aa79cdde3c1658d58df9.json b/batch28/D00843 Sushi/IsaacSim_assets_6a71aa79cdde3c1658d58df9/physics_6a71aa79cdde3c1658d58df9.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1ea8567e1936e86aecfe21c0530809998604bb1
--- /dev/null
+++ b/batch28/D00843 Sushi/IsaacSim_assets_6a71aa79cdde3c1658d58df9/physics_6a71aa79cdde3c1658d58df9.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.0364421,
+        0.03171271,
+        0.01600334
+      ],
+      "min": [
+        -0.031452,
+        0.0,
+        -0.01566249
+      ],
+      "size": [
+        0.0678941,
+        0.03171271,
+        0.031665830000000006
+      ]
+    },
+    "description": "A piece of nigiri sushi featuring a slice of bright orange salmon with distinct white fat striations, resting on an oblong bed of tightly packed, light brown seasoned rice.",
+    "name": "specialist-current",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.03
+  },
+  "asset_id": "D00843",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0004037700785576703,
+          0.014289241680933252,
+          0.000122769095603449
+        ],
+        "max": [
+          0.0364421,
+          0.03171271,
+          0.01600334
+        ],
+        "min": [
+          -0.031452,
+          0.0,
+          -0.01566249
+        ]
+      },
+      "center_of_mass": [
+        0.0009505358076259075,
+        -0.000197768565733026,
+        0.015380187308433048
+      ],
+      "collision": {},
+      "density": 1050.0,
+      "id": "part_00",
+      "inertia": [
+        3.5285097735461274e-06,
+        8.991168558606982e-06,
+        9.429464168695117e-06
+      ],
+      "mass": 0.03,
+      "material": "food_organic",
+      "name": "specialist-current",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "specialist-current",
+        "part_name": "specialist-current"
+      },
+      "volume": 4.163959555659102e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.0678941,
+        0.03171271,
+        0.031665830000000006
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.03
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00845 Canned Soup/IsaacSim_assets_6a7b779fb56a872fd77a99d2/physics_6a7b779fb56a872fd77a99d2.json b/batch28/D00845 Canned Soup/IsaacSim_assets_6a7b779fb56a872fd77a99d2/physics_6a7b779fb56a872fd77a99d2.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3dfe712bfad8127b11f893daed398f93d4b97ea
--- /dev/null
+++ b/batch28/D00845 Canned Soup/IsaacSim_assets_6a7b779fb56a872fd77a99d2/physics_6a7b779fb56a872fd77a99d2.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03966299816966057,
+        0.03892999887466431,
+        0.10955976694822311
+      ],
+      "min": [
+        -0.03853899985551834,
+        -0.03917799890041351,
+        0.0002567693591117859
+      ],
+      "size": [
+        0.07820199802517891,
+        0.07810799777507782,
+        0.10930299758911133
+      ]
+    },
+    "description": "D00845 Canned Soup",
+    "name": "D00845 Canned Soup",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.5
+  },
+  "asset_id": "D00845",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0005619991570711136,
+          -0.00012400001287460327,
+          0.05490826815366745
+        ],
+        "max": [
+          0.03966299816966057,
+          0.03892999887466431,
+          0.10955976694822311
+        ],
+        "min": [
+          -0.03853899985551834,
+          -0.03917799890041351,
+          0.0002567693591117859
+        ]
+      },
+      "center_of_mass": [
+        0.0005603522877208889,
+        -0.0001136600476456806,
+        0.05513043329119682
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        0.00037680123932659626,
+        0.00068558199563995,
+        0.0006861226283945143
+      ],
+      "mass": 0.5,
+      "material": "plastic",
+      "name": "D00845 Canned Soup",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00845 Canned Soup",
+        "part_name": "D00845 Canned Soup"
+      },
+      "volume": 0.0005
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.07820199802517891,
+        0.07810799777507782,
+        0.10930299758911133
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.5
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00846 Canned Tomatoes/IsaacSim_assets_6a7b77f0b56a872fd77a9fa0/physics_6a7b77f0b56a872fd77a9fa0.json b/batch28/D00846 Canned Tomatoes/IsaacSim_assets_6a7b77f0b56a872fd77a9fa0/physics_6a7b77f0b56a872fd77a9fa0.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2a7fe2a59ae3112104d466917eae6eac75fbf10
--- /dev/null
+++ b/batch28/D00846 Canned Tomatoes/IsaacSim_assets_6a7b77f0b56a872fd77a9fa0/physics_6a7b77f0b56a872fd77a9fa0.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.04109799861907959,
+        0.039900001138448715,
+        0.11188124120235443
+      ],
+      "min": [
+        -0.03943999856710434,
+        -0.03992899879813194,
+        0.0002312399446964264
+      ],
+      "size": [
+        0.08053799718618393,
+        0.07982899993658066,
+        0.111650001257658
+      ]
+    },
+    "description": "D00846 Canned Tomatoes",
+    "name": "D00846 Canned Tomatoes",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.85
+  },
+  "asset_id": "D00846",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0008290000259876251,
+          -1.449882984161377e-05,
+          0.05605624057352543
+        ],
+        "max": [
+          0.04109799861907959,
+          0.039900001138448715,
+          0.11188124120235443
+        ],
+        "min": [
+          -0.03943999856710434,
+          -0.03992899879813194,
+          0.0002312399446964264
+        ]
+      },
+      "center_of_mass": [
+        0.0008314850274473429,
+        -9.584958206687588e-06,
+        0.05601227656006813
+      ],
+      "collision": {},
+      "density": 900.0,
+      "id": "part_00",
+      "inertia": [
+        0.0006813848740421236,
+        0.001220305566675961,
+        0.0012265510158613324
+      ],
+      "mass": 0.85,
+      "material": "wood",
+      "name": "D00846 Canned Tomatoes",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00846 Canned Tomatoes",
+        "part_name": "D00846 Canned Tomatoes"
+      },
+      "volume": 0.0009444444709353977
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.08053799718618393,
+        0.07982899993658066,
+        0.111650001257658
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.85
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch28/D00856 Sardine Can/IsaacSim_assets_6a7b788fb56a872fd77aa969/physics_6a7b788fb56a872fd77aa969.json b/batch28/D00856 Sardine Can/IsaacSim_assets_6a7b788fb56a872fd77aa969/physics_6a7b788fb56a872fd77aa969.json
new file mode 100644
index 0000000000000000000000000000000000000000..f333be6f5e0dc24e95fd265f0714c6d3b764c3f7
--- /dev/null
+++ b/batch28/D00856 Sardine Can/IsaacSim_assets_6a7b788fb56a872fd77aa969/physics_6a7b788fb56a872fd77aa969.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.0587179996073246,
+        0.03677099943161011,
+        0.031871236860752106
+      ],
+      "min": [
+        -0.05261300131678581,
+        -0.03645800054073334,
+        0.000542239286005497
+      ],
+      "size": [
+        0.11133100092411041,
+        0.07322899997234344,
+        0.03132899757474661
+      ]
+    },
+    "description": "D00856 Sardine Can",
+    "name": "D00856 Sardine Can",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.125
+  },
+  "asset_id": "D00856",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.003052499145269394,
+          0.000156499445438385,
+          0.0162067380733788
+        ],
+        "max": [
+          0.0587179996073246,
+          0.03677099943161011,
+          0.031871236860752106
+        ],
+        "min": [
+          -0.05261300131678581,
+          -0.03645800054073334,
+          0.000542239286005497
+        ]
+      },
+      "center_of_mass": [
+        0.0030853801872581244,
+        0.0001702441950328648,
+        0.01636498048901558
+      ],
+      "collision": {},
+      "density": 6000.0,
+      "id": "part_00",
+      "inertia": [
+        6.013150414219126e-05,
+        0.00012466376938391477,
+        0.00016450101975351572
+      ],
+      "mass": 0.125,
+      "material": "metal",
+      "name": "D00856 Sardine Can",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00856 Sardine Can",
+        "part_name": "D00856 Sardine Can"
+      },
+      "volume": 2.0833333333333333e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.11133100092411041,
+        0.07322899997234344,
+        0.03132899757474661
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.125
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00509 Metal Ball/IsaacSim_assets_6a7da303bc69ff712cec97c4/physics_6a7da303bc69ff712cec97c4.json b/batch29/D00509 Metal Ball/IsaacSim_assets_6a7da303bc69ff712cec97c4/physics_6a7da303bc69ff712cec97c4.json
new file mode 100644
index 0000000000000000000000000000000000000000..65b05099b248f7c6064cbb3f885662580320e77c
--- /dev/null
+++ b/batch29/D00509 Metal Ball/IsaacSim_assets_6a7da303bc69ff712cec97c4/physics_6a7da303bc69ff712cec97c4.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.04444304,
+        0.09001918,
+        0.04468903
+      ],
+      "min": [
+        -0.04437272,
+        0.0,
+        -0.04466158
+      ],
+      "size": [
+        0.08881576,
+        0.09001918,
+        0.08935061
+      ]
+    },
+    "description": "A smooth, highly reflective polished metal sphere.",
+    "name": "specialist-current",
+    "object_type": "rigid_bodies",
+    "total_mass": 4.11
+  },
+  "asset_id": "D00509",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          3.770314449254679e-05,
+          0.04508976634741509,
+          9.29107541738191e-06
+        ],
+        "max": [
+          0.04444304,
+          0.09001918,
+          0.04468903
+        ],
+        "min": [
+          -0.04437272,
+          0.0,
+          -0.04466158
+        ]
+      },
+      "center_of_mass": [
+        3.766254551481727e-05,
+        -1.0209379163112901e-05,
+        0.04508953695929932
+      ],
+      "collision": {},
+      "density": 7850.0,
+      "id": "part_00",
+      "inertia": [
+        0.003275148550830151,
+        0.003296380171331466,
+        0.0033176910468336158
+      ],
+      "mass": 4.11,
+      "material": "polished_metal",
+      "name": "specialist-current",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "specialist-current",
+        "part_name": "specialist-current"
+      },
+      "volume": 0.00037605917765236427
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.08881576,
+        0.09001918,
+        0.08935061
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 4.11
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00513 Metal Jug/IsaacSim_assets_6a7dda69b7a9c4204a82c171/physics_6a7dda69b7a9c4204a82c171.json b/batch29/D00513 Metal Jug/IsaacSim_assets_6a7dda69b7a9c4204a82c171/physics_6a7dda69b7a9c4204a82c171.json
new file mode 100644
index 0000000000000000000000000000000000000000..caaa581e9ad1b8b529888d2e9c9b95b96896fa44
--- /dev/null
+++ b/batch29/D00513 Metal Jug/IsaacSim_assets_6a7dda69b7a9c4204a82c171/physics_6a7dda69b7a9c4204a82c171.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.08839599788188934,
+        0.13098779320716858,
+        0.05299299955368042
+      ],
+      "min": [
+        -0.05994199961423874,
+        0.0007867999374866486,
+        -0.05283600091934204
+      ],
+      "size": [
+        0.14833799749612808,
+        0.13020099326968193,
+        0.10582900047302246
+      ]
+    },
+    "description": "D00513 Metal Jug",
+    "name": "D00513 Metal Jug",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.2
+  },
+  "asset_id": "D00513",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.014226999133825302,
+          0.06588729657232761,
+          7.849931716918945e-05
+        ],
+        "max": [
+          0.08839599788188934,
+          0.13098779320716858,
+          0.05299299955368042
+        ],
+        "min": [
+          -0.05994199961423874,
+          0.0007867999374866486,
+          -0.05283600091934204
+        ]
+      },
+      "center_of_mass": [
+        0.005141702014952898,
+        -7.76069427956827e-05,
+        0.06589826196432114
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_00",
+      "inertia": [
+        0.00031907865195535123,
+        0.00039232740527950227,
+        0.00047232021461240947
+      ],
+      "mass": 0.2,
+      "material": "metal",
+      "name": "D00513 Metal Jug",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00513 Metal Jug",
+        "part_name": "D00513 Metal Jug"
+      },
+      "volume": 2.5641026023106698e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.14833799749612808,
+        0.13020099326968193,
+        0.10582900047302246
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.2
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00527 Milk Pitcher/IsaacSim_assets_6a7dda66b7a9c4204a82c0af/physics_6a7dda66b7a9c4204a82c0af.json b/batch29/D00527 Milk Pitcher/IsaacSim_assets_6a7dda66b7a9c4204a82c0af/physics_6a7dda66b7a9c4204a82c0af.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc32572057530ec0fa6c94aceb00f5352d003015
--- /dev/null
+++ b/batch29/D00527 Milk Pitcher/IsaacSim_assets_6a7dda66b7a9c4204a82c0af/physics_6a7dda66b7a9c4204a82c0af.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.08229800313711166,
+        0.13137459754943848,
+        0.055410999804735184
+      ],
+      "min": [
+        -0.05884699895977974,
+        0.000771600054576993,
+        -0.05507799983024597
+      ],
+      "size": [
+        0.1411450020968914,
+        0.13060299749486148,
+        0.11048899963498116
+      ]
+    },
+    "description": "D00527 Milk Pitcher",
+    "name": "D00527 Milk Pitcher",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.25
+  },
+  "asset_id": "D00527",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.011725502088665962,
+          0.06607309880200773,
+          0.00016649998724460602
+        ],
+        "max": [
+          0.08229800313711166,
+          0.13137459754943848,
+          0.055410999804735184
+        ],
+        "min": [
+          -0.05884699895977974,
+          0.000771600054576993,
+          -0.05507799983024597
+        ]
+      },
+      "center_of_mass": [
+        0.003804387291893363,
+        -0.00017032840696629137,
+        0.0631442442536354
+      ],
+      "collision": {},
+      "density": 8000.0,
+      "id": "part_00",
+      "inertia": [
+        0.0003975123690906912,
+        0.0004883871297352016,
+        0.0005807142006233335
+      ],
+      "mass": 0.25,
+      "material": "metal",
+      "name": "D00527 Milk Pitcher",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00527 Milk Pitcher",
+        "part_name": "D00527 Milk Pitcher"
+      },
+      "volume": 3.125e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.1411450020968914,
+        0.13060299749486148,
+        0.11048899963498116
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.25
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00536 Muffin Basket/IsaacSim_assets_6a7ed18eb7a9c4204a9df2cc/physics_6a7ed18eb7a9c4204a9df2cc.json b/batch29/D00536 Muffin Basket/IsaacSim_assets_6a7ed18eb7a9c4204a9df2cc/physics_6a7ed18eb7a9c4204a9df2cc.json
new file mode 100644
index 0000000000000000000000000000000000000000..253559b66975ad844a050cad699e290c1f7875d9
--- /dev/null
+++ b/batch29/D00536 Muffin Basket/IsaacSim_assets_6a7ed18eb7a9c4204a9df2cc/physics_6a7ed18eb7a9c4204a9df2cc.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.153329998254776,
+        0.115471750497818,
+        0.14997200667858124
+      ],
+      "min": [
+        -0.15346099436283112,
+        0.0013767500640824437,
+        -0.14692600071430206
+      ],
+      "size": [
+        0.3067909926176071,
+        0.11409500043373555,
+        0.2968980073928833
+      ]
+    },
+    "description": "D00536 Muffin Basket",
+    "name": "D00536 Muffin Basket",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.45
+  },
+  "asset_id": "D00536",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -6.549805402755737e-05,
+          0.05842425028095022,
+          0.0015230029821395874
+        ],
+        "max": [
+          0.153329998254776,
+          0.115471750497818,
+          0.14997200667858124
+        ],
+        "min": [
+          -0.15346099436283112,
+          0.0013767500640824437,
+          -0.14692600071430206
+        ]
+      },
+      "center_of_mass": [
+        0.0008006347925402224,
+        -0.000139216601382941,
+        0.0598120354115963
+      ],
+      "collision": {},
+      "density": 537.0,
+      "id": "part_00",
+      "inertia": [
+        0.005343297962099314,
+        0.0054053086787462234,
+        0.009276585653424263
+      ],
+      "mass": 0.45,
+      "material": "wood",
+      "name": "D00536 Muffin Basket",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00536 Muffin Basket",
+        "part_name": "D00536 Muffin Basket"
+      },
+      "volume": 0.0008379888046165196
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.3067909926176071,
+        0.11409500043373555,
+        0.2968980073928833
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.45
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00547 Mushroom/IsaacSim_assets_6a7da3c0bc69ff712cecf434/physics_6a7da3c0bc69ff712cecf434.json b/batch29/D00547 Mushroom/IsaacSim_assets_6a7da3c0bc69ff712cecf434/physics_6a7da3c0bc69ff712cecf434.json
new file mode 100644
index 0000000000000000000000000000000000000000..2319a4887d04f0b66e9bac2acb7c58681c0fe635
--- /dev/null
+++ b/batch29/D00547 Mushroom/IsaacSim_assets_6a7da3c0bc69ff712cecf434/physics_6a7da3c0bc69ff712cecf434.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.05408876,
+        0.12163383,
+        0.0539367
+      ],
+      "min": [
+        -0.05334009,
+        0.0,
+        -0.05484165
+      ],
+      "size": [
+        0.10742884999999999,
+        0.12163383,
+        0.10877835
+      ]
+    },
+    "description": "A large brown mushroom with a smooth domed cap and a thick, textured stem. Ribbed gills are visible on the underside of the cap.",
+    "name": "specialist-current",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.15
+  },
+  "asset_id": "D00547",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00010908533739691292,
+          0.08120488121200509,
+          0.00011815398030438433
+        ],
+        "max": [
+          0.05408876,
+          0.12163383,
+          0.0539367
+        ],
+        "min": [
+          -0.05334009,
+          0.0,
+          -0.05484165
+        ]
+      },
+      "center_of_mass": [
+        0.0002081858480606753,
+        0.0004689781441037092,
+        0.07405688353599217
+      ],
+      "collision": {},
+      "density": 800.0,
+      "id": "part_00",
+      "inertia": [
+        0.00015078572604379964,
+        0.00018373766588692137,
+        0.00018652853475785016
+      ],
+      "mass": 0.15,
+      "material": "organic_plant_matter",
+      "name": "specialist-current",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "specialist-current",
+        "part_name": "specialist-current"
+      },
+      "volume": 0.0005808727280437816
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.10742884999999999,
+        0.12163383,
+        0.10877835
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.15
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00551 Noodle/IsaacSim_assets_6a7edf24b7a9c4204a9f72f5/physics_6a7edf24b7a9c4204a9f72f5.json b/batch29/D00551 Noodle/IsaacSim_assets_6a7edf24b7a9c4204a9f72f5/physics_6a7edf24b7a9c4204a9f72f5.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb32d61693c492cd1d1d06f607ec1ffb724d2ae6
--- /dev/null
+++ b/batch29/D00551 Noodle/IsaacSim_assets_6a7edf24b7a9c4204a9f72f5/physics_6a7edf24b7a9c4204a9f72f5.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.05891299992799759,
+        0.035956308245658875,
+        0.04576899856328964
+      ],
+      "min": [
+        -0.057507000863552094,
+        0.0006373096257448196,
+        -0.0468829981982708
+      ],
+      "size": [
+        0.11642000079154968,
+        0.035318998619914055,
+        0.09265199676156044
+      ]
+    },
+    "description": "D00551 Noodle",
+    "name": "D00551 Noodle",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.085
+  },
+  "asset_id": "D00551",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0007029995322227478,
+          0.018296808935701847,
+          -0.0005569998174905777
+        ],
+        "max": [
+          0.05891299992799759,
+          0.035956308245658875,
+          0.04576899856328964
+        ],
+        "min": [
+          -0.057507000863552094,
+          0.0006373096257448196,
+          -0.0468829981982708
+        ]
+      },
+      "center_of_mass": [
+        0.0007230989867821336,
+        0.0005339144845493138,
+        0.017935944721102715
+      ],
+      "collision": {},
+      "density": 227.0,
+      "id": "part_00",
+      "inertia": [
+        5.3750802180729806e-05,
+        8.181970770237967e-05,
+        0.00012198446347611025
+      ],
+      "mass": 0.085,
+      "material": "foam_or_hollow",
+      "name": "D00551 Noodle",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00551 Noodle",
+        "part_name": "D00551 Noodle"
+      },
+      "volume": 0.00037444934314568136
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.11642000079154968,
+        0.035318998619914055,
+        0.09265199676156044
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.085
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00556 Oil Bottle/IsaacSim_assets_6a7dda67b7a9c4204a82c121/physics_6a7dda67b7a9c4204a82c121.json b/batch29/D00556 Oil Bottle/IsaacSim_assets_6a7dda67b7a9c4204a82c121/physics_6a7dda67b7a9c4204a82c121.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0bd551b48e16fa79ae227e3dc06f1cc5c1ba3b8
--- /dev/null
+++ b/batch29/D00556 Oil Bottle/IsaacSim_assets_6a7dda67b7a9c4204a82c121/physics_6a7dda67b7a9c4204a82c121.json	
@@ -0,0 +1,254 @@
+{
+  "articulation": {
+    "has_joints": true,
+    "joints": [
+      {
+        "body0": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_2",
+        "body1": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_0",
+        "joint_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/Joints/joint_bottle_body__bottle_base",
+        "type": "fixed"
+      },
+      {
+        "body0": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_3",
+        "body1": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_1",
+        "joint_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/Joints/joint_bottle_neck__bottle_cap",
+        "type": "fixed"
+      },
+      {
+        "body0": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_2",
+        "body1": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_3",
+        "joint_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/Joints/joint_bottle_body__bottle_neck",
+        "type": "fixed"
+      }
+    ]
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03712699934840202,
+        0.2855242192745209,
+        0.036706000566482544
+      ],
+      "min": [
+        -0.037007998675107956,
+        0.0003722000401467085,
+        -0.0368879996240139
+      ],
+      "size": [
+        0.07413499802350998,
+        0.28515201923437417,
+        0.07359400019049644
+      ]
+    },
+    "description": "D00556 Oil Bottle",
+    "name": "D00556 Oil Bottle",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.81
+  },
+  "asset_id": "D00556",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          4.7501176595687866e-05,
+          0.1300481999060139,
+          -0.00011100061237812042
+        ],
+        "max": [
+          0.03688900172710419,
+          0.2597241997718811,
+          0.03642899915575981
+        ],
+        "min": [
+          -0.03679399937391281,
+          0.0003722000401467085,
+          -0.03665100038051605
+        ]
+      },
+      "center_of_mass": [
+        -0.0030985837802290916,
+        0.0002833963662851602,
+        0.0723063126206398
+      ],
+      "collision": {},
+      "density": 2500.0,
+      "id": "part_00",
+      "inertia": [
+        7.569770241389051e-05,
+        0.00043666985584422946,
+        0.00043686761637218297
+      ],
+      "mass": 0.15,
+      "material": "ceramic_or_glass",
+      "name": "D00556 Oil Bottle",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00556 Oil Bottle",
+        "part_name": "D00556 Oil Bottle"
+      },
+      "volume": 6.000000238418579e-05
+    },
+    {
+      "bounds": {
+        "center": [
+          -0.008393500000238419,
+          0.16627470962703228,
+          -0.00010850001126527786
+        ],
+        "max": [
+          0.020004000514745712,
+          0.2855242192745209,
+          0.020098000764846802
+        ],
+        "min": [
+          -0.03679100051522255,
+          0.047025199979543686,
+          -0.020315000787377357
+        ]
+      },
+      "center_of_mass": [
+        -0.007406280841678381,
+        0.0008609447395429015,
+        0.222310408949852
+      ],
+      "collision": {},
+      "density": 2700.0,
+      "id": "part_01",
+      "inertia": [
+        1.4270153769757599e-06,
+        2.348560701648239e-05,
+        2.351202056161128e-05
+      ],
+      "mass": 0.01,
+      "material": "ceramic_or_glass",
+      "name": "D00556 Oil Bottle",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00556 Oil Bottle",
+        "part_name": "D00556 Oil Bottle"
+      },
+      "volume": 3.703703620919475e-06
+    },
+    {
+      "bounds": {
+        "center": [
+          5.950033664703369e-05,
+          0.10971119999885559,
+          -9.09995287656784e-05
+        ],
+        "max": [
+          0.03712699934840202,
+          0.17249619960784912,
+          0.036706000566482544
+        ],
+        "min": [
+          -0.037007998675107956,
+          0.04692620038986206,
+          -0.0368879996240139
+        ]
+      },
+      "center_of_mass": [
+        4.302931483834982e-05,
+        8.421285019721836e-05,
+        0.1095399558544159
+      ],
+      "collision": {},
+      "density": 1050.0,
+      "id": "part_02",
+      "inertia": [
+        0.00027286482509225607,
+        0.0006585069932043552,
+        0.0006602412322536111
+      ],
+      "mass": 0.4,
+      "material": "plastic",
+      "name": "D00556 Oil Bottle",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00556 Oil Bottle",
+        "part_name": "D00556 Oil Bottle"
+      },
+      "volume": 0.0003809523866290138
+    },
+    {
+      "bounds": {
+        "center": [
+          4.200078547000885e-05,
+          0.21477171033620834,
+          -9.799934923648834e-05
+        ],
+        "max": [
+          0.03670100122690201,
+          0.25805121660232544,
+          0.036382000893354416
+        ],
+        "min": [
+          -0.03661699965596199,
+          0.17149220407009125,
+          -0.03657799959182739
+        ]
+      },
+      "center_of_mass": [
+        3.143445428577252e-05,
+        8.388312562601641e-05,
+        0.20532406866550446
+      ],
+      "collision": {},
+      "density": 2500.0,
+      "id": "part_03",
+      "inertia": [
+        0.00013861987099517137,
+        0.00019018164312001318,
+        0.00019089037959929556
+      ],
+      "mass": 0.25,
+      "material": "ceramic_or_glass",
+      "name": "D00556 Oil Bottle",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00556 Oil Bottle",
+        "part_name": "D00556 Oil Bottle"
+      },
+      "volume": 0.0001
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.07413499802350998,
+        0.28515201923437417,
+        0.07359400019049644
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.81
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 4
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 3
+    }
+  }
+}
diff --git a/batch29/D00560 Olive Oil/IsaacSim_assets_6a7ddf7fb7a9c4204a831a84/physics_6a7ddf7fb7a9c4204a831a84.json b/batch29/D00560 Olive Oil/IsaacSim_assets_6a7ddf7fb7a9c4204a831a84/physics_6a7ddf7fb7a9c4204a831a84.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c16f07ad476d2a8b9ba07f97e56892a1777d4ac
--- /dev/null
+++ b/batch29/D00560 Olive Oil/IsaacSim_assets_6a7ddf7fb7a9c4204a831a84/physics_6a7ddf7fb7a9c4204a831a84.json	
@@ -0,0 +1,207 @@
+{
+  "articulation": {
+    "has_joints": true,
+    "joints": [
+      {
+        "body0": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_00",
+        "body1": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_01",
+        "joint_path": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/Joints/joint_bottle__cap",
+        "type": "fixed"
+      },
+      {
+        "body0": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_00",
+        "body1": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_02",
+        "joint_path": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/Joints/joint_bottle__label",
+        "type": "fixed"
+      }
+    ]
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03813499957323074,
+        0.279476135969162,
+        0.03754299879074097
+      ],
+      "min": [
+        -0.03804900124669075,
+        0.00017714116256684065,
+        -0.038995999842882156
+      ],
+      "size": [
+        0.0761840008199215,
+        0.27929899480659515,
+        0.07653899863362312
+      ]
+    },
+    "description": "D00560 Olive Oil",
+    "name": "D00560 Olive Oil",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.16
+  },
+  "asset_id": "D00560",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          4.299916326999664e-05,
+          0.12892664776882157,
+          -0.0007329992949962616
+        ],
+        "max": [
+          0.03813499957323074,
+          0.2576761543750763,
+          0.03753000125288963
+        ],
+        "min": [
+          -0.03804900124669075,
+          0.00017714116256684065,
+          -0.038995999842882156
+        ]
+      },
+      "center_of_mass": [
+        -1.1823013892353629e-06,
+        0.0007868482498452067,
+        0.11806336790323257
+      ],
+      "collision": {},
+      "density": 2500.0,
+      "id": "part_00",
+      "inertia": [
+        0.00031155499164015055,
+        0.0022416843567043543,
+        0.0022432152181863785
+      ],
+      "mass": 0.45,
+      "material": "ceramic_or_glass",
+      "name": "D00560 Olive Oil",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00560 Olive Oil",
+        "part_name": "D00560 Olive Oil"
+      },
+      "volume": 0.00017999999523162841
+    },
+    {
+      "bounds": {
+        "center": [
+          7.050111889839172e-05,
+          0.162695137783885,
+          0.00018849968910217285
+        ],
+        "max": [
+          0.03209200128912926,
+          0.279476135969162,
+          0.03255299851298332
+        ],
+        "min": [
+          -0.031950999051332474,
+          0.04591413959860802,
+          -0.032175999134778976
+        ]
+      },
+      "center_of_mass": [
+        -0.00042078839032910764,
+        5.761781721957959e-05,
+        0.15291911363601685
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_01",
+      "inertia": [
+        0.00032150556216947734,
+        0.0027939355932176113,
+        0.002804284216836095
+      ],
+      "mass": 0.7,
+      "material": "plastic",
+      "name": "D00560 Olive Oil",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00560 Olive Oil",
+        "part_name": "D00560 Olive Oil"
+      },
+      "volume": 0.000699999988079071
+    },
+    {
+      "bounds": {
+        "center": [
+          0.0007684994488954544,
+          0.10619913972914219,
+          0.032171498984098434
+        ],
+        "max": [
+          0.026102999225258827,
+          0.1771351397037506,
+          0.03754299879074097
+        ],
+        "min": [
+          -0.02456600032746792,
+          0.03526313975453377,
+          0.026799999177455902
+        ]
+      },
+      "center_of_mass": [
+        0.0004704073944594711,
+        -0.031651731580495834,
+        0.10915973037481308
+      ],
+      "collision": {},
+      "density": 800.0,
+      "id": "part_02",
+      "inertia": [
+        1.3907709899285692e-06,
+        1.4108069080975838e-05,
+        1.5365218132501468e-05
+      ],
+      "mass": 0.01,
+      "material": "wood",
+      "name": "D00560 Olive Oil",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00560 Olive Oil",
+        "part_name": "D00560 Olive Oil"
+      },
+      "volume": 1.2499999720603227e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.0761840008199215,
+        0.27929899480659515,
+        0.07653899863362312
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.16
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 3
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 2
+    }
+  }
+}
diff --git a/batch29/D00636_Popcorn_Butter/IsaacSim_assets_6a7d89d6b7a9c4204a78bb65/physics_6a7d89d6b7a9c4204a78bb65.json b/batch29/D00636_Popcorn_Butter/IsaacSim_assets_6a7d89d6b7a9c4204a78bb65/physics_6a7d89d6b7a9c4204a78bb65.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b258f1e5248c4017b1c842a63f66e3852a99711
--- /dev/null
+++ b/batch29/D00636_Popcorn_Butter/IsaacSim_assets_6a7d89d6b7a9c4204a78bb65/physics_6a7d89d6b7a9c4204a78bb65.json
@@ -0,0 +1,207 @@
+{
+  "articulation": {
+    "has_joints": true,
+    "joints": [
+      {
+        "body0": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_01",
+        "body1": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_00",
+        "joint_path": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/Joints/joint_bottle_body__bottle_cap",
+        "type": "fixed"
+      },
+      {
+        "body0": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_01",
+        "body1": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_02",
+        "joint_path": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/Joints/joint_bottle_body__label",
+        "type": "fixed"
+      }
+    ]
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.04123900085687637,
+        0.1956515999045223,
+        0.028735000640153885
+      ],
+      "min": [
+        -0.041165001690387726,
+        0.0009145999920292525,
+        -0.0352259986102581
+      ],
+      "size": [
+        0.0824040025472641,
+        0.19473699991249305,
+        0.06396099925041199
+      ]
+    },
+    "description": "D00636 Popcorn_Butter",
+    "name": "D00636 Popcorn_Butter",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.292
+  },
+  "asset_id": "D00636",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.008242499083280563,
+          0.10111609986051917,
+          -0.0035154996439814568
+        ],
+        "max": [
+          0.02465200051665306,
+          0.1956515999045223,
+          0.02090900018811226
+        ],
+        "min": [
+          -0.04113699868321419,
+          0.006580599816516042,
+          -0.027939999476075172
+        ]
+      },
+      "center_of_mass": [
+        -0.008369451388716698,
+        0.003662175266072154,
+        0.1418609768152237
+      ],
+      "collision": {},
+      "density": 900.0,
+      "id": "part_00",
+      "inertia": [
+        2.123467311321292e-06,
+        1.6831352695589885e-05,
+        1.6864096323843114e-05
+      ],
+      "mass": 0.01,
+      "material": "wood",
+      "name": "D00636 Popcorn_Butter",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00636 Popcorn_Butter",
+        "part_name": "D00636 Popcorn_Butter"
+      },
+      "volume": 1.1111110862758424e-05
+    },
+    {
+      "bounds": {
+        "center": [
+          3.699958324432373e-05,
+          0.08517760318409273,
+          -0.003383999690413475
+        ],
+        "max": [
+          0.04123900085687637,
+          0.1694406063761562,
+          0.028457999229431152
+        ],
+        "min": [
+          -0.041165001690387726,
+          0.0009145999920292525,
+          -0.0352259986102581
+        ]
+      },
+      "center_of_mass": [
+        1.6240966942859814e-05,
+        0.0034343088045716286,
+        0.08077847212553024
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_01",
+      "inertia": [
+        0.00019382128084544092,
+        0.0006813195650465786,
+        0.0007332667009904981
+      ],
+      "mass": 0.28,
+      "material": "plastic",
+      "name": "D00636 Popcorn_Butter",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00636 Popcorn_Butter",
+        "part_name": "D00636 Popcorn_Butter"
+      },
+      "volume": 0.0002800000011920929
+    },
+    {
+      "bounds": {
+        "center": [
+          8.300039917230606e-05,
+          0.08256560075096786,
+          0.02501850016415119
+        ],
+        "max": [
+          0.028046000748872757,
+          0.14039860083721578,
+          0.028735000640153885
+        ],
+        "min": [
+          -0.027879999950528145,
+          0.02473260066471994,
+          0.0213019996881485
+        ]
+      },
+      "center_of_mass": [
+        3.184987144777551e-05,
+        -0.024374112486839294,
+        0.08148232102394104
+      ],
+      "collision": {},
+      "density": 800.0,
+      "id": "part_02",
+      "inertia": [
+        3.5006411280846805e-07,
+        2.065812395812827e-06,
+        2.4012670110096224e-06
+      ],
+      "mass": 0.002,
+      "material": "wood",
+      "name": "D00636 Popcorn_Butter",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00636 Popcorn_Butter",
+        "part_name": "D00636 Popcorn_Butter"
+      },
+      "volume": 2.5000001187436284e-06
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.0824040025472641,
+        0.19473699991249305,
+        0.06396099925041199
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.292
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 3
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 2
+    }
+  }
+}
diff --git a/batch29/D00638_Eggplant/IsaacSim_assets_6a7d6efcb7a9c4204a756e93/physics_6a7d6efcb7a9c4204a756e93.json b/batch29/D00638_Eggplant/IsaacSim_assets_6a7d6efcb7a9c4204a756e93/physics_6a7d6efcb7a9c4204a756e93.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b14dcfcac8b7e181b067265cc1f56b4b077c821
--- /dev/null
+++ b/batch29/D00638_Eggplant/IsaacSim_assets_6a7d6efcb7a9c4204a756e93/physics_6a7d6efcb7a9c4204a756e93.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.09795600175857544,
+        0.08384399861097336,
+        0.04097500070929527
+      ],
+      "min": [
+        -0.10215000063180923,
+        -2.976507846153091e-19,
+        -0.046893998980522156
+      ],
+      "size": [
+        0.20010600239038467,
+        0.08384399861097336,
+        0.08786899968981743
+      ]
+    },
+    "description": "D00638 Eggplant",
+    "name": "D00638 Eggplant",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.4
+  },
+  "asset_id": "D00638",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0020969994366168976,
+          0.04192199930548668,
+          -0.0029594991356134415
+        ],
+        "max": [
+          0.09795600175857544,
+          0.08384399861097336,
+          0.04097500070929527
+        ],
+        "min": [
+          -0.10215000063180923,
+          -2.976507846153091e-19,
+          -0.046893998980522156
+        ]
+      },
+      "center_of_mass": [
+        0.013456380926072598,
+        0.0010570241138339043,
+        0.04102487489581108
+      ],
+      "collision": {},
+      "density": 500.0,
+      "id": "part_00",
+      "inertia": [
+        0.00028564062085933983,
+        0.0009262376115657389,
+        0.0009343147394247353
+      ],
+      "mass": 0.4,
+      "material": "wood",
+      "name": "D00638 Eggplant",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00638 Eggplant",
+        "part_name": "D00638 Eggplant"
+      },
+      "volume": 0.0008000000119209289
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.20010600239038467,
+        0.08384399861097336,
+        0.08786899968981743
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.4
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00668_Rice_Container/IsaacSim_assets_6a7d419fb7a9c4204a6ab107/physics_6a7d419fb7a9c4204a6ab107.json b/batch29/D00668_Rice_Container/IsaacSim_assets_6a7d419fb7a9c4204a6ab107/physics_6a7d419fb7a9c4204a6ab107.json
new file mode 100644
index 0000000000000000000000000000000000000000..7543db95640163fcbea3423e5b83a9d954486dbb
--- /dev/null
+++ b/batch29/D00668_Rice_Container/IsaacSim_assets_6a7d419fb7a9c4204a6ab107/physics_6a7d419fb7a9c4204a6ab107.json
@@ -0,0 +1,153 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.11553261933788311,
+        0.2898446854298133,
+        0.11640752425661605
+      ],
+      "min": [
+        -0.1151568181372069,
+        0.0012466074622352608,
+        -0.11763469318078895
+      ],
+      "size": [
+        0.23068943747509002,
+        0.288598077967578,
+        0.234042217437405
+      ]
+    },
+    "description": "D00668 Rice_Container",
+    "name": "D00668 Rice_Container",
+    "object_type": "rigid_bodies",
+    "total_mass": 2.3
+  },
+  "asset_id": "D00668",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.0003131403209408745,
+          0.11828460850301781,
+          -0.0006335594753181795
+        ],
+        "max": [
+          0.11525364207045641,
+          0.23532260954380035,
+          0.11593743850789906
+        ],
+        "min": [
+          -0.11462736142857466,
+          0.0012466074622352608,
+          -0.11720455745853542
+        ]
+      },
+      "center_of_mass": [
+        -0.000204892159672454,
+        1.4991727766755503e-05,
+        0.0991070419549942
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.02018051967024803,
+        0.02040131390094757,
+        0.02186269871890545
+      ],
+      "mass": 1.8,
+      "material": "ceramic_or_glass",
+      "name": "D00668 Rice_Container",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00668 Rice_Container",
+        "part_name": "D00668 Rice_Container"
+      },
+      "volume": 0.0007499999801317851
+    },
+    {
+      "bounds": {
+        "center": [
+          0.0001879006003381034,
+          0.26158399507548175,
+          -0.0006135844620864528
+        ],
+        "max": [
+          0.11553261933788311,
+          0.2898446854298133,
+          0.11640752425661605
+        ],
+        "min": [
+          -0.1151568181372069,
+          0.23332330472115018,
+          -0.11763469318078895
+        ]
+      },
+      "center_of_mass": [
+        0.0002785639662761241,
+        0.0004953693714924157,
+        0.24315668642520905
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_01",
+      "inertia": [
+        0.001647881232202053,
+        0.001703898306004703,
+        0.003268103813752532
+      ],
+      "mass": 0.5,
+      "material": "ceramic_or_glass",
+      "name": "D00668 Rice_Container",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00668 Rice_Container",
+        "part_name": "D00668 Rice_Container"
+      },
+      "volume": 0.00020833333333333335
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.23068943747509002,
+        0.288598077967578,
+        0.234042217437405
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 2.3
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 2
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00668_Rice_Container/IsaacSim_assets_6a7d419fb7a9c4204a6ab107/textures/color_121212.hdr b/batch29/D00668_Rice_Container/IsaacSim_assets_6a7d419fb7a9c4204a6ab107/textures/color_121212.hdr
new file mode 100644
index 0000000000000000000000000000000000000000..91b6332cf8e4ec8eaa7a368ba4346677dae74032
--- /dev/null
+++ b/batch29/D00668_Rice_Container/IsaacSim_assets_6a7d419fb7a9c4204a6ab107/textures/color_121212.hdr
@@ -0,0 +1,5 @@
+#?RADIANCE
+FORMAT=32-bit_rle_rgbe
+
+-Y 4 +X 4
+行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸
\ No newline at end of file
diff --git a/batch29/D00690_Salt_Storage_Jar/IsaacSim_assets_6a7d5a68b7a9c4204a73488f/physics_6a7d5a68b7a9c4204a73488f.json b/batch29/D00690_Salt_Storage_Jar/IsaacSim_assets_6a7d5a68b7a9c4204a73488f/physics_6a7d5a68b7a9c4204a73488f.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bc24f8bc687f83c64ae4f3a19eabe4a61347739
--- /dev/null
+++ b/batch29/D00690_Salt_Storage_Jar/IsaacSim_assets_6a7d5a68b7a9c4204a73488f/physics_6a7d5a68b7a9c4204a73488f.json
@@ -0,0 +1,153 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.056637940637301654,
+        0.0893412216421132,
+        0.05680731570464559
+      ],
+      "min": [
+        -0.05754729823686851,
+        0.0005744913214584813,
+        -0.05726665782391995
+      ],
+      "size": [
+        0.11418523887417016,
+        0.08876673032065471,
+        0.11407397352856555
+      ]
+    },
+    "description": "D00690 Salt_Storage_Jar",
+    "name": "D00690 Salt_Storage_Jar",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.43
+  },
+  "asset_id": "D00690",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.00029705866472795606,
+          0.038614989891357254,
+          -8.768515544943511e-05
+        ],
+        "max": [
+          0.056637940637301654,
+          0.07665548846125603,
+          0.05680731570464559
+        ],
+        "min": [
+          -0.057232057966757566,
+          0.0005744913214584813,
+          -0.05698268601554446
+        ]
+      },
+      "center_of_mass": [
+        -0.0009624209487810731,
+        0.0001029230552376248,
+        0.039747532457113266
+      ],
+      "collision": {},
+      "density": 2400.0,
+      "id": "part_00",
+      "inertia": [
+        0.0004599637759383768,
+        0.00046693687909282744,
+        0.0005618552677333355
+      ],
+      "mass": 0.35,
+      "material": "ceramic_or_glass",
+      "name": "D00690 Salt_Storage_Jar",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00690 Salt_Storage_Jar",
+        "part_name": "D00690 Salt_Storage_Jar"
+      },
+      "volume": 0.00014583333084980648
+    },
+    {
+      "bounds": {
+        "center": [
+          -0.0004553012915768685,
+          0.08324486378941345,
+          -0.00026176911366595015
+        ],
+        "max": [
+          0.05663669565371477,
+          0.0893412216421132,
+          0.05674311959658805
+        ],
+        "min": [
+          -0.05754729823686851,
+          0.07714850593671371,
+          -0.05726665782391995
+        ]
+      },
+      "center_of_mass": [
+        -0.0003165102971252054,
+        8.975343371275812e-05,
+        0.08136226236820221
+      ],
+      "collision": {},
+      "density": 700.0,
+      "id": "part_01",
+      "inertia": [
+        6.543660128954798e-05,
+        6.55754265608266e-05,
+        0.0001291328080696985
+      ],
+      "mass": 0.08,
+      "material": "wood",
+      "name": "D00690 Salt_Storage_Jar",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00690 Salt_Storage_Jar",
+        "part_name": "D00690 Salt_Storage_Jar"
+      },
+      "volume": 0.00011428571173122952
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.11418523887417016,
+        0.08876673032065471,
+        0.11407397352856555
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.43
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 2
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00690_Salt_Storage_Jar/IsaacSim_assets_6a7d5a68b7a9c4204a73488f/textures/color_121212.hdr b/batch29/D00690_Salt_Storage_Jar/IsaacSim_assets_6a7d5a68b7a9c4204a73488f/textures/color_121212.hdr
new file mode 100644
index 0000000000000000000000000000000000000000..91b6332cf8e4ec8eaa7a368ba4346677dae74032
--- /dev/null
+++ b/batch29/D00690_Salt_Storage_Jar/IsaacSim_assets_6a7d5a68b7a9c4204a73488f/textures/color_121212.hdr
@@ -0,0 +1,5 @@
+#?RADIANCE
+FORMAT=32-bit_rle_rgbe
+
+-Y 4 +X 4
+行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸
\ No newline at end of file
diff --git a/batch29/D00710 Saucepaning Pan/IsaacSim_assets_6a7d6cf3b7a9c4204a751bec/physics_6a7d6cf3b7a9c4204a751bec.json b/batch29/D00710 Saucepaning Pan/IsaacSim_assets_6a7d6cf3b7a9c4204a751bec/physics_6a7d6cf3b7a9c4204a751bec.json
new file mode 100644
index 0000000000000000000000000000000000000000..db06ad0fd6126a94936f33680aacf489cfee1bd1
--- /dev/null
+++ b/batch29/D00710 Saucepaning Pan/IsaacSim_assets_6a7d6cf3b7a9c4204a751bec/physics_6a7d6cf3b7a9c4204a751bec.json	
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.2102220058441162,
+        0.08113684924319386,
+        0.0783659964799881
+      ],
+      "min": [
+        -0.10358300060033798,
+        0.0017198498902644133,
+        -0.07845500111579895
+      ],
+      "size": [
+        0.3138050064444542,
+        0.07941699935292945,
+        0.15682099759578705
+      ]
+    },
+    "description": "D00710 Saucepaning_Pan",
+    "name": "D00710 Saucepaning_Pan",
+    "object_type": "rigid_bodies",
+    "total_mass": 1.0
+  },
+  "asset_id": "D00710",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.053319502621889114,
+          0.04142834956672914,
+          -4.4502317905426025e-05
+        ],
+        "max": [
+          0.2102220058441162,
+          0.08113684924319386,
+          0.0783659964799881
+        ],
+        "min": [
+          -0.10358300060033798,
+          0.0017198498902644133,
+          -0.07845500111579895
+        ]
+      },
+      "center_of_mass": [
+        0.01017701905220747,
+        3.1045103241922334e-05,
+        0.04379437863826752
+      ],
+      "collision": {},
+      "density": 7800.0,
+      "id": "part_00",
+      "inertia": [
+        0.0016510190907865763,
+        0.004747123457491398,
+        0.005494908895343542
+      ],
+      "mass": 1.0,
+      "material": "metal",
+      "name": "D00710 Saucepaning_Pan",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00710 Saucepaning_Pan",
+        "part_name": "D00710 Saucepaning_Pan"
+      },
+      "volume": 0.0001282051282051282
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.3138050064444542,
+        0.07941699935292945,
+        0.15682099759578705
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 1.0
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00725_Shallot/IsaacSim_assets_6a7c61b2b7a9c4204a4c7d7d/physics_6a7c61b2b7a9c4204a4c7d7d.json b/batch29/D00725_Shallot/IsaacSim_assets_6a7c61b2b7a9c4204a4c7d7d/physics_6a7c61b2b7a9c4204a4c7d7d.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d1e466f28e6c47223ddf6e960f477059cf030db
--- /dev/null
+++ b/batch29/D00725_Shallot/IsaacSim_assets_6a7c61b2b7a9c4204a4c7d7d/physics_6a7c61b2b7a9c4204a4c7d7d.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.03755300119519234,
+        0.08373499661684036,
+        0.028901999816298485
+      ],
+      "min": [
+        -0.03098900057375431,
+        7.000000096013537e-06,
+        -0.039719998836517334
+      ],
+      "size": [
+        0.06854200176894665,
+        0.08372799661674435,
+        0.06862199865281582
+      ]
+    },
+    "description": "D00725 Shallot",
+    "name": "D00725 Shallot",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.013
+  },
+  "asset_id": "D00725",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.003282000310719013,
+          0.04187099830846819,
+          -0.005408999510109425
+        ],
+        "max": [
+          0.03755300119519234,
+          0.08373499661684036,
+          0.028901999816298485
+        ],
+        "min": [
+          -0.03098900057375431,
+          7.000000096013537e-06,
+          -0.039719998836517334
+        ]
+      },
+      "center_of_mass": [
+        0.003973230253905058,
+        0.004468800965696573,
+        0.036740049719810486
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_00",
+      "inertia": [
+        5.804246029583737e-06,
+        7.242713309096871e-06,
+        7.3698520282050595e-06
+      ],
+      "mass": 0.013,
+      "material": "plastic",
+      "name": "D00725 Shallot",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00725 Shallot",
+        "part_name": "D00725 Shallot"
+      },
+      "volume": 1.3000000268220902e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.06854200176894665,
+        0.08372799661674435,
+        0.06862199865281582
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.013
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00738_Smartphone/IsaacSim_assets_6a7c24eab56a872fd78ad0f5/physics_6a7c24eab56a872fd78ad0f5.json b/batch29/D00738_Smartphone/IsaacSim_assets_6a7c24eab56a872fd78ad0f5/physics_6a7c24eab56a872fd78ad0f5.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8cf3f793b058462e6d121ef318195ae5a31d9d0
--- /dev/null
+++ b/batch29/D00738_Smartphone/IsaacSim_assets_6a7c24eab56a872fd78ad0f5/physics_6a7c24eab56a872fd78ad0f5.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.005135000217705965,
+        0.15825257450342178,
+        0.040991999208927155
+      ],
+      "min": [
+        -0.007170000113546848,
+        0.0008245748620083759,
+        -0.038019001483917236
+      ],
+      "size": [
+        0.012305000331252813,
+        0.1574279996414134,
+        0.07901100069284439
+      ]
+    },
+    "description": "D00738 Smartphone",
+    "name": "D00738 Smartphone",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.22
+  },
+  "asset_id": "D00738",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.0010174999479204416,
+          0.07953857468271508,
+          0.001486498862504959
+        ],
+        "max": [
+          0.005135000217705965,
+          0.15825257450342178,
+          0.040991999208927155
+        ],
+        "min": [
+          -0.007170000113546848,
+          0.0008245748620083759,
+          -0.038019001483917236
+        ]
+      },
+      "center_of_mass": [
+        -0.00011174358951393515,
+        -0.0006119543686509132,
+        0.08121977746486664
+      ],
+      "collision": {},
+      "density": 2300.0,
+      "id": "part_00",
+      "inertia": [
+        0.000106347470136825,
+        0.00043089332757517695,
+        0.0005331458523869514
+      ],
+      "mass": 0.22,
+      "material": "ceramic_or_glass",
+      "name": "D00738 Smartphone",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00738 Smartphone",
+        "part_name": "D00738 Smartphone"
+      },
+      "volume": 9.565217339474222e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.012305000331252813,
+        0.1574279996414134,
+        0.07901100069284439
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.22
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00764_Spice_Jar/IsaacSim_assets_6a7d5620b7a9c4204a72ca7e/physics_6a7d5620b7a9c4204a72ca7e.json b/batch29/D00764_Spice_Jar/IsaacSim_assets_6a7d5620b7a9c4204a72ca7e/physics_6a7d5620b7a9c4204a72ca7e.json
new file mode 100644
index 0000000000000000000000000000000000000000..97de74e843f7062cc696569452c7360b0ac33274
--- /dev/null
+++ b/batch29/D00764_Spice_Jar/IsaacSim_assets_6a7d5620b7a9c4204a72ca7e/physics_6a7d5620b7a9c4204a72ca7e.json
@@ -0,0 +1,160 @@
+{
+  "articulation": {
+    "has_joints": true,
+    "joints": [
+      {
+        "body0": "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/part_02",
+        "body1": "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/part_03",
+        "joint_path": "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/Joints/joint_glass_jar_body__screw_cap",
+        "type": "fixed"
+      }
+    ]
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.02867400087416172,
+        0.10232769674621522,
+        0.028505999594926834
+      ],
+      "min": [
+        -0.028849000111222267,
+        0.00040069991518976167,
+        -0.02887599915266037
+      ],
+      "size": [
+        0.05752300098538399,
+        0.10192699683102546,
+        0.057381998747587204
+      ]
+    },
+    "description": "D00764 Spice_Jar",
+    "name": "D00764 Spice_Jar",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.163
+  },
+  "asset_id": "D00764",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -8.749961853027344e-05,
+          0.041374698284926126,
+          -0.00018499977886676788
+        ],
+        "max": [
+          0.02867400087416172,
+          0.08234869665466249,
+          0.028505999594926834
+        ],
+        "min": [
+          -0.028849000111222267,
+          0.00040069991518976167,
+          -0.02887599915266037
+        ]
+      },
+      "center_of_mass": [
+        -0.0006469239597208798,
+        -0.00028100531199015677,
+        0.04510514810681343
+      ],
+      "collision": {},
+      "density": 2500.0,
+      "id": "part_00",
+      "inertia": [
+        5.9686866734409705e-05,
+        0.0001330526574747637,
+        0.0001334557746304199
+      ],
+      "mass": 0.15,
+      "material": "ceramic_or_glass",
+      "name": "D00764 Spice_Jar",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00764 Spice_Jar",
+        "part_name": "D00764 Spice_Jar"
+      },
+      "volume": 6.000000238418579e-05
+    },
+    {
+      "bounds": {
+        "center": [
+          -0.0001104995608329773,
+          0.09160120016895235,
+          -0.0002055000513792038
+        ],
+        "max": [
+          0.0284620001912117,
+          0.10232769674621522,
+          0.028183000162243843
+        ],
+        "min": [
+          -0.028682999312877655,
+          0.08087470359168947,
+          -0.02859400026500225
+        ]
+      },
+      "center_of_mass": [
+        -5.637334470520727e-05,
+        0.00020421025692485273,
+        0.0905519500374794
+      ],
+      "collision": {},
+      "density": 1000.0,
+      "id": "part_01",
+      "inertia": [
+        2.9815676043654094e-06,
+        3.0009550755494274e-06,
+        5.1210058700235095e-06
+      ],
+      "mass": 0.013,
+      "material": "plastic",
+      "name": "D00764 Spice_Jar",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00764 Spice_Jar",
+        "part_name": "D00764 Spice_Jar"
+      },
+      "volume": 1.3000000268220902e-05
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.05752300098538399,
+        0.10192699683102546,
+        0.057381998747587204
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.163
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 2
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 1
+    }
+  }
+}
diff --git a/batch29/D00764_Spice_Jar/IsaacSim_assets_6a7d5620b7a9c4204a72ca7e/textures/color_121212.hdr b/batch29/D00764_Spice_Jar/IsaacSim_assets_6a7d5620b7a9c4204a72ca7e/textures/color_121212.hdr
new file mode 100644
index 0000000000000000000000000000000000000000..91b6332cf8e4ec8eaa7a368ba4346677dae74032
--- /dev/null
+++ b/batch29/D00764_Spice_Jar/IsaacSim_assets_6a7d5620b7a9c4204a72ca7e/textures/color_121212.hdr
@@ -0,0 +1,5 @@
+#?RADIANCE
+FORMAT=32-bit_rle_rgbe
+
+-Y 4 +X 4
+行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸行衸
\ No newline at end of file
diff --git a/batch29/D00767_Endive/IsaacSim_assets_6a7c313cb7a9c4204a4770d6/physics_6a7c313cb7a9c4204a4770d6.json b/batch29/D00767_Endive/IsaacSim_assets_6a7c313cb7a9c4204a4770d6/physics_6a7c313cb7a9c4204a4770d6.json
new file mode 100644
index 0000000000000000000000000000000000000000..789c02adedf86db17ebdf52a7dcb91300db1ff7b
--- /dev/null
+++ b/batch29/D00767_Endive/IsaacSim_assets_6a7c313cb7a9c4204a4770d6/physics_6a7c313cb7a9c4204a4770d6.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.05790400132536888,
+        0.05818700045347214,
+        0.033757999539375305
+      ],
+      "min": [
+        -0.08060500025749207,
+        -1.9999999949504854e-06,
+        -0.029904000461101532
+      ],
+      "size": [
+        0.13850900158286095,
+        0.05818900045346709,
+        0.06366200000047684
+      ]
+    },
+    "description": "D00767 Endive",
+    "name": "D00767 Endive",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.22
+  },
+  "asset_id": "D00767",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          -0.011350499466061592,
+          0.029092500226738593,
+          0.0019269995391368866
+        ],
+        "max": [
+          0.05790400132536888,
+          0.05818700045347214,
+          0.033757999539375305
+        ],
+        "min": [
+          -0.08060500025749207,
+          -1.9999999949504854e-06,
+          -0.029904000461101532
+        ]
+      },
+      "center_of_mass": [
+        -0.008397480472922325,
+        -0.0026856171898543835,
+        0.02812119387090206
+      ],
+      "collision": {},
+      "density": 800.0,
+      "id": "part_00",
+      "inertia": [
+        8.028235606616363e-05,
+        0.00024148689408320934,
+        0.00024853399372659624
+      ],
+      "mass": 0.22,
+      "material": "wood",
+      "name": "D00767 Endive",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00767 Endive",
+        "part_name": "D00767 Endive"
+      },
+      "volume": 0.0002749999985098839
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.13850900158286095,
+        0.05818900045346709,
+        0.06366200000047684
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.22
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}
diff --git a/batch29/D00768_Radicchio/IsaacSim_assets_6a7d5e9fb7a9c4204a73d0dc/physics_6a7d5e9fb7a9c4204a73d0dc.json b/batch29/D00768_Radicchio/IsaacSim_assets_6a7d5e9fb7a9c4204a73d0dc/physics_6a7d5e9fb7a9c4204a73d0dc.json
new file mode 100644
index 0000000000000000000000000000000000000000..80d3628a9815c94eb136d4ee8374ec67a3c52376
--- /dev/null
+++ b/batch29/D00768_Radicchio/IsaacSim_assets_6a7d5e9fb7a9c4204a73d0dc/physics_6a7d5e9fb7a9c4204a73d0dc.json
@@ -0,0 +1,112 @@
+{
+  "articulation": {
+    "has_joints": false,
+    "joints": []
+  },
+  "asset": {
+    "bounds": {
+      "max": [
+        0.0456399992108345,
+        0.08851539716124535,
+        0.0461370013654232
+      ],
+      "min": [
+        -0.04515400156378746,
+        0.0005123999208080932,
+        -0.0477989986538887
+      ],
+      "size": [
+        0.09079400077462196,
+        0.08800299724043725,
+        0.0939360000193119
+      ]
+    },
+    "description": "D00768 Radicchio",
+    "name": "D00768 Radicchio",
+    "object_type": "rigid_bodies",
+    "total_mass": 0.3
+  },
+  "asset_id": "D00768",
+  "parts": [
+    {
+      "bounds": {
+        "center": [
+          0.00024299882352352142,
+          0.04451389854102672,
+          -0.0008309986442327499
+        ],
+        "max": [
+          0.0456399992108345,
+          0.08851539716124535,
+          0.0461370013654232
+        ],
+        "min": [
+          -0.04515400156378746,
+          0.0005123999208080932,
+          -0.0477989986538887
+        ]
+      },
+      "center_of_mass": [
+        0.00014467429718934,
+        -0.0003639377246145159,
+        0.04361420497298241
+      ],
+      "collision": {},
+      "density": 330.0,
+      "id": "part_00",
+      "inertia": [
+        0.0002434139751130715,
+        0.00025188736617565155,
+        0.0002593891404103488
+      ],
+      "mass": 0.3,
+      "material": "light_wood_or_paper",
+      "name": "D00768 Radicchio",
+      "physics_type": "rigid",
+      "source": {
+        "object_name": "D00768 Radicchio",
+        "part_name": "D00768 Radicchio"
+      },
+      "volume": 0.0009090909452149363
+    }
+  ],
+  "provenance": {},
+  "schema_version": "1.0",
+  "simulation": {
+    "fix_base": false
+  },
+  "units": {
+    "length": "m",
+    "mass": "kg",
+    "up_axis": "Z"
+  },
+  "validation": {
+    "overall": "verified",
+    "scale": {
+      "status": "verified",
+      "confidence": "high",
+      "units": "m",
+      "up_axis": "Z",
+      "bounds_m": [
+        0.09079400077462196,
+        0.08800299724043725,
+        0.0939360000193119
+      ]
+    },
+    "mass": {
+      "status": "verified",
+      "confidence": "high",
+      "value_kg": 0.3
+    },
+    "collision": {
+      "status": "recorded",
+      "confidence": "medium",
+      "shape_count": 1
+    },
+    "articulation": {
+      "status": "verified",
+      "confidence": "high",
+      "moving_joints": 0
+    }
+  }
+}