Gripper tests, fixes to changes in O3DE and ROS2 Gem. (#6)

Signed-off-by: Michał Pełka <[email protected]>

.gitignore

@@ -3,3 +3,6 @@
 [Uu]ser/
 [Uu]ser_test*/
 _savebackup/
+.idea/
+.vscode/
+cmake-*/

Gem/Source/PhysXJointTestComponent.cpp

@@ -62,34 +62,54 @@ namespace TestScene
     if (component2){
       componentId = component2->GetId();
     }
-    if (componentId != AZ::InvalidComponentId){
+    if (componentId != AZ::InvalidComponentId) {
       const AZ::EntityComponentIdPair id(GetEntityId(), componentId);
-      PhysX::JointInterfaceRequestBus::EventResult(velocity, id, &PhysX::JointRequests::GetVelocity);
-      PhysX::JointInterfaceRequestBus::EventResult(position, id, &PhysX::JointRequests::GetPosition);
-      PhysX::JointInterfaceRequestBus::EventResult(limits, id, &PhysX::JointRequests::GetLimits);
+      PhysX::JointRequestBus::EventResult(velocity, id,
+                                          &PhysX::JointRequests::GetVelocity);
+      PhysX::JointRequestBus::EventResult(position, id,
+                                          &PhysX::JointRequests::GetPosition);
+      PhysX::JointRequestBus::EventResult(limits, id,
+                                          &PhysX::JointRequests::GetLimits);
 
       ImGui::Begin("SimplePhysXJointDemo");
 
-      AZStd::string group_name = "Joint " +GetEntity()->GetName();
+      AZStd::string group_name = "Joint " + GetEntity()->GetName();
 
       ImGui::Text("%s", GetEntity()->GetName().c_str());
 
-
-      ImGui::SliderFloat(AZStd::string("Position"+GetEntity()->GetName()).c_str()
-                             , &position, limits.first,limits.second);
-      ImGui::SliderFloat(AZStd::string("Velocity"+GetEntity()->GetName()).c_str()
-                             , &velocity, -5.f , 5.f);
-
-      ImGui::InputFloat(AZStd::string("Force"+GetEntity()->GetName()).c_str(), &m_forceSet);
-      ImGui::SliderFloat(AZStd::string("Command"+GetEntity()->GetName()).c_str(), &m_velocitySet, -5.f , 5.f);
-      ImGui::SameLine();
-      if (ImGui::Button(AZStd::string("Zero"+GetEntity()->GetName()).c_str())){
-        m_velocitySet = 0;
+      ImGui::SliderFloat(
+          AZStd::string("Position##" + GetEntity()->GetName()).c_str(),
+          &position, limits.first, limits.second);
+      ImGui::SliderFloat(
+          AZStd::string("Velocity##" + GetEntity()->GetName()).c_str(),
+          &velocity, -0.5f, 0.5f);
+
+      ImGui::InputFloat(
+          AZStd::string("Force##" + GetEntity()->GetName()).c_str(),
+          &m_forceSet);
+      ImGui::SliderFloat(
+          AZStd::string("Speed##" + GetEntity()->GetName()).c_str(),
+          &m_velocitySet, -1.5f, 1.5f);
+
+      float spacing = ImGui::GetStyle().ItemInnerSpacing.x;
+      ImGui::PushButtonRepeat(true);
+      float commandVel = 0;
+      if (ImGui::ArrowButton(
+              AZStd::string("##left" + GetEntity()->GetName()).c_str(),
+              ImGuiDir_Left)) {
+        commandVel = -m_velocitySet;
       }
-
-      PhysX::JointInterfaceRequestBus::Event(id, &PhysX::JointRequests::SetVelocity, m_velocitySet);
-      PhysX::JointInterfaceRequestBus::Event(id, &PhysX::JointRequests::SetMaximumForce, m_forceSet);
-
+      ImGui::SameLine(0.0f, spacing);
+      if (ImGui::ArrowButton(
+              AZStd::string("##right" + GetEntity()->GetName()).c_str(),
+              ImGuiDir_Right)) {
+        commandVel = m_velocitySet;
+      }
+      ImGui::Text("----------------------------------------------------------");
+      PhysX::JointRequestBus::Event(id, &PhysX::JointRequests::SetVelocity,
+                                    commandVel);
+      PhysX::JointRequestBus::Event(id, &PhysX::JointRequests::SetMaximumForce,
+                                    m_forceSet);
     }
 
     ImGui::End();

Gem/Source/PhysXJointTestComponent.h

@@ -28,9 +28,7 @@ public:
 private:
   void OnImGuiUpdate() override;
 
-  float m_velocitySet {0};
-  float m_forceSet {5000};
-
-
+  float m_velocitySet{0.2};
+  float m_forceSet{5};
 };
 } // namespace AppleKraken

Gem/Source/PhysXTestGripper.cpp

@@ -0,0 +1,83 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root
+ * of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#include "Utils.h"
+#include "PhysXTestGripper.h"
+
+#include <AzCore/Serialization/EditContext.h>
+#include <AzCore/Serialization/SerializeContext.h>
+#include <AzFramework/Components/TransformComponent.h>
+
+#include <HingeJointComponent.h>
+#include <PhysX/Joint/PhysXJointRequestsBus.h>
+
+#include <PrismaticJointComponent.h>
+#include <imgui/imgui.h>
+
+namespace TestScene {
+void ImGuiGripperTest::Activate() {
+  ImGui::ImGuiUpdateListenerBus::Handler::BusConnect();
+}
+
+void ImGuiGripperTest::Deactivate() {
+  ImGui::ImGuiUpdateListenerBus::Handler::BusDisconnect();
+}
+
+void ImGuiGripperTest::Reflect(AZ::ReflectContext *context) {
+  if (AZ::SerializeContext *serialize =
+          azrtti_cast<AZ::SerializeContext *>(context)) {
+    serialize->Class<ImGuiGripperTest, AZ::Component>()
+        ->Field("finger1", &ImGuiGripperTest::m_finger1)
+        ->Field("finger2", &ImGuiGripperTest::m_finger2)
+        ->Version(1);
+
+    if (AZ::EditContext *ec = serialize->GetEditContext()) {
+      ec->Class<ImGuiGripperTest>("ImGuiGripperTest", "ImGuiGripperTest")
+          ->ClassElement(AZ::Edit::ClassElements::EditorData,
+                         "ImGuiGripperTest")
+          ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu,
+                      AZ_CRC("Game"))
+          ->Attribute(AZ::Edit::Attributes::Category, "TestScene")
+          ->DataElement(AZ::Edit::UIHandlers::EntityId,
+                        &ImGuiGripperTest::m_finger1, "finger1", "")
+          ->DataElement(AZ::Edit::UIHandlers::EntityId,
+                        &ImGuiGripperTest::m_finger2, "finger2", "");
+    }
+  }
+}
+
+void ImGuiGripperTest::OnImGuiUpdate() {
+
+  ImGui::Begin("ImGuiGripperTest");
+  auto joint1 = Utils::GetJoint(m_finger1);
+  auto joint2 = Utils::GetJoint(m_finger2);
+
+  ImGui::InputFloat("m_velocity", &m_velocity);
+  ImGui::InputFloat("m_force", &m_force);
+
+  if (ImGui::Button("Open")) {
+    m_desiredVel = m_velocity;
+  }
+  if (ImGui::Button("Close")) {
+    m_desiredVel = -m_velocity;
+  }
+
+  PhysX::JointRequestBus::Event(joint1, &PhysX::JointRequests::SetVelocity,
+                                m_desiredVel);
+  PhysX::JointRequestBus::Event(joint1, &PhysX::JointRequests::SetMaximumForce,
+                                m_force);
+
+  PhysX::JointRequestBus::Event(joint2, &PhysX::JointRequests::SetVelocity,
+                                m_desiredVel);
+  PhysX::JointRequestBus::Event(joint2, &PhysX::JointRequests::SetMaximumForce,
+                                m_force);
+  ImGui::End();
+}
+
+} // namespace TestScene

Gem/Source/PhysXTestGripper.h

@@ -0,0 +1,37 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root
+ * of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+#pragma once
+
+#include <AzCore/Component/Component.h>
+
+#include <ImGuiBus.h>
+
+namespace TestScene {
+//! Component responsible for storing counters of apples gathered by Kraken.
+class ImGuiGripperTest : public AZ::Component,
+                         public ImGui::ImGuiUpdateListenerBus::Handler {
+public:
+  AZ_COMPONENT(ImGuiGripperTest, "{fa8124da-a7d9-11ed-afa1-0242ac120002}",
+               AZ::Component);
+  ImGuiGripperTest() = default;
+  ~ImGuiGripperTest() = default;
+  void Activate() override;
+  void Deactivate() override;
+  static void Reflect(AZ::ReflectContext *context);
+
+private:
+  void OnImGuiUpdate() override;
+
+  float m_desiredVel{0};
+  float m_velocity{1};
+  float m_force{1};
+  AZ::EntityId m_finger1;
+  AZ::EntityId m_finger2;
+};
+} // namespace TestScene

Gem/Source/Physics_TestModule.cpp

@@ -4,6 +4,7 @@
 
 #include "Physics_TestSystemComponent.h"
 #include "PhysXJointTestComponent.h"
+#include "PhysXTestGripper.h"
 #include "SkidSteering.h"
 
 namespace Physics_Test
@@ -22,7 +23,8 @@ namespace Physics_Test
             m_descriptors.insert(m_descriptors.end(), {
                 Physics_TestSystemComponent::CreateDescriptor(),
                 TestScene::ImGuiJointDemo::CreateDescriptor(),
-                TestScene::SkidSteeringDemo::CreateDescriptor()
+                TestScene::SkidSteeringDemo::CreateDescriptor(),
+                TestScene::ImGuiGripperTest::CreateDescriptor()
             });
         }
 

Gem/Source/SkidSteering.cpp

@@ -61,11 +61,10 @@ void SkidSteeringDemo::Reflect(AZ::ReflectContext* context)
 
 void setSpeedAndForce(const AZ::EntityComponentIdPair& id, float force, float speed){
 
-  PhysX::JointInterfaceRequestBus::Event(id, [&](PhysX::JointRequests * joint){
-        joint->SetMaximumForce(force);
-        joint->SetVelocity(speed);
-      });
-
+  PhysX::JointRequestBus::Event(id, [&](PhysX::JointRequests *joint) {
+    joint->SetMaximumForce(force);
+    joint->SetVelocity(speed);
+  });
 }
 void SkidSteeringDemo::OnImGuiUpdate()
 {

Gem/Source/Utils.cpp

@@ -0,0 +1,27 @@
+#include "Utils.h"
+#include <HingeJointComponent.h>
+#include <PhysX/Joint/PhysXJointRequestsBus.h>
+#include <PrismaticJointComponent.h>
+
+namespace TestScene::Utils {
+
+AZ::EntityComponentIdPair GetJoint(const AZ::EntityId entityId) {
+  AZ::Entity *entity{nullptr};
+
+  AZ::ComponentApplicationBus::BroadcastResult(
+      entity, &AZ::ComponentApplicationRequests::FindEntity, entityId);
+  if (!entity) {
+    return AZ::EntityComponentIdPair(entityId, AZ::InvalidComponentId);
+  }
+
+  auto *component1 = entity->FindComponent<PhysX::HingeJointComponent>();
+  auto *component2 = entity->FindComponent<PhysX::PrismaticJointComponent>();
+  auto componentId(AZ::InvalidComponentId);
+  if (component1) {
+    componentId = component1->GetId();
+  } else if (component2) {
+    componentId = component2->GetId();
+  }
+  return AZ::EntityComponentIdPair(entityId, componentId);
+}
+} // namespace TestScene::Utils

Gem/Source/Utils.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#include <AzCore/Component/Component.h>
+#include <AzCore/Component/ComponentBus.h>
+
+namespace TestScene::Utils {
+
+AZ::EntityComponentIdPair GetJoint(const AZ::EntityId entityId);
+
+}

Gem/physics_test_files.cmake

@@ -1,10 +1,14 @@
 
 set(FILES
     Include/Physics_Test/Physics_TestBus.h
+    Source/Utils.h
+    Source/Utils.cpp
     Source/Physics_TestSystemComponent.cpp
     Source/Physics_TestSystemComponent.h
     Source/PhysXJointTestComponent.cpp
     Source/PhysXJointTestComponent.h
+    Source/PhysXTestGripper.h
+    Source/PhysXTestGripper.cpp
     Source/SkidSteering.cpp
     Source/SkidSteering.h
     enabled_gems.cmake

Levels/GripperTest/GripperTest.prefab

@@ -0,0 +1,1533 @@
+{
+    "ContainerEntity": {
+        "Id": "Entity_[1146574390643]",
+        "Name": "Level",
+        "Components": {
+            "Component_[10641544592923449938]": {
+                "$type": "EditorInspectorComponent",
+                "Id": 10641544592923449938
+            },
+            "Component_[12039882709170782873]": {
+                "$type": "EditorOnlyEntityComponent",
+                "Id": 12039882709170782873
+            },
+            "Component_[12265484671603697631]": {
+                "$type": "EditorPendingCompositionComponent",
+                "Id": 12265484671603697631
+            },
+            "Component_[14068419294042456275]": {
+                "$type": "LocalViewBookmarkComponent",
+                "Id": 14068419294042456275,
+                "LocalBookmarkFileName": "GripperTest_1675877335831244499.setreg"
+            },
+            "Component_[14126657869720434043]": {
+                "$type": "EditorEntitySortComponent",
+                "Id": 14126657869720434043,
+                "Child Entity Order": [
+                    "Entity_[1176639161715]",
+                    "Entity_[9175094467991]",
+                    "Entity_[3696075573863]",
+                    "Entity_[3708960475751]"
+                ]
+            },
+            "Component_[15230859088967841193]": {
+                "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                "Id": 15230859088967841193,
+                "Parent Entity": ""
+            },
+            "Component_[16239496886950819870]": {
+                "$type": "EditorDisabledCompositionComponent",
+                "Id": 16239496886950819870
+            },
+            "Component_[5688118765544765547]": {
+                "$type": "EditorEntityIconComponent",
+                "Id": 5688118765544765547
+            },
+            "Component_[7247035804068349658]": {
+                "$type": "EditorPrefabComponent",
+                "Id": 7247035804068349658
+            },
+            "Component_[9307224322037797205]": {
+                "$type": "EditorLockComponent",
+                "Id": 9307224322037797205
+            },
+            "Component_[9562516168917670048]": {
+                "$type": "EditorVisibilityComponent",
+                "Id": 9562516168917670048
+            }
+        }
+    },
+    "Entities": {
+        "Entity_[1155164325235]": {
+            "Id": "Entity_[1155164325235]",
+            "Name": "Sun",
+            "Components": {
+                "Component_[13620450453324765907]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 13620450453324765907
+                },
+                "Component_[2134313378593666258]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 2134313378593666258
+                },
+                "Component_[234010807770404186]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 234010807770404186
+                },
+                "Component_[2970359110423865725]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 2970359110423865725
+                },
+                "Component_[3722854130373041803]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 3722854130373041803
+                },
+                "Component_[5992533738676323195]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 5992533738676323195
+                },
+                "Component_[7378860763541895402]": {
+                    "$type": "AZ::Render::EditorDirectionalLightComponent",
+                    "Id": 7378860763541895402,
+                    "Controller": {
+                        "Configuration": {
+                            "Intensity": 1.0,
+                            "CameraEntityId": "",
+                            "ShadowFilterMethod": 1
+                        }
+                    }
+                },
+                "Component_[7892834440890947578]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 7892834440890947578,
+                    "Parent Entity": "Entity_[1176639161715]",
+                    "Transform Data": {
+                        "Translate": [
+                            0.0,
+                            0.0,
+                            13.487043380737305
+                        ],
+                        "Rotate": [
+                            -76.13099670410156,
+                            -0.847000002861023,
+                            -15.8100004196167
+                        ]
+                    }
+                },
+                "Component_[8599729549570828259]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 8599729549570828259
+                },
+                "Component_[952797371922080273]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 952797371922080273
+                }
+            }
+        },
+        "Entity_[1159459292531]": {
+            "Id": "Entity_[1159459292531]",
+            "Name": "Ground",
+            "Components": {
+                "Component_[12260880513256986252]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 12260880513256986252
+                },
+                "Component_[13711420870643673468]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 13711420870643673468
+                },
+                "Component_[138002849734991713]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 138002849734991713
+                },
+                "Component_[16578565737331764849]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 16578565737331764849,
+                    "Parent Entity": "Entity_[1176639161715]"
+                },
+                "Component_[16919232076966545697]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 16919232076966545697
+                },
+                "Component_[4228479570410194639]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 4228479570410194639
+                },
+                "Component_[5182430712893438093]": {
+                    "$type": "EditorMaterialComponent",
+                    "Id": 5182430712893438093
+                },
+                "Component_[5245524694917323904]": {
+                    "$type": "EditorColliderComponent",
+                    "Id": 5245524694917323904,
+                    "ColliderConfiguration": {
+                        "Position": [
+                            0.0,
+                            0.0,
+                            -0.5
+                        ],
+                        "MaterialSlots": {
+                            "Slots": [
+                                {
+                                    "Name": "Entire object"
+                                }
+                            ]
+                        }
+                    },
+                    "ShapeConfiguration": {
+                        "ShapeType": 1,
+                        "Box": {
+                            "Configuration": [
+                                512.0,
+                                512.0,
+                                1.0
+                            ]
+                        }
+                    },
+                    "DebugDrawSettings": {
+                        "LocallyEnabled": false
+                    }
+                },
+                "Component_[5675108321710651991]": {
+                    "$type": "AZ::Render::EditorMeshComponent",
+                    "Id": 5675108321710651991,
+                    "Controller": {
+                        "Configuration": {
+                            "ModelAsset": {
+                                "assetId": {
+                                    "guid": "{0CD745C0-6AA8-569A-A68A-73A3270986C4}",
+                                    "subId": 277889906
+                                },
+                                "assetHint": "objects/groudplane/groundplane_512x512m.azmodel"
+                            }
+                        }
+                    }
+                },
+                "Component_[5681893399601237518]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 5681893399601237518
+                },
+                "Component_[592692962543397545]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 592692962543397545
+                },
+                "Component_[7090012899106946164]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 7090012899106946164
+                },
+                "Component_[9410832619875640998]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 9410832619875640998
+                }
+            }
+        },
+        "Entity_[1163754259827]": {
+            "Id": "Entity_[1163754259827]",
+            "Name": "Camera",
+            "Components": {
+                "Component_[11895140916889160460]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 11895140916889160460
+                },
+                "Component_[16880285896855930892]": {
+                    "$type": "{CA11DA46-29FF-4083-B5F6-E02C3A8C3A3D} EditorCameraComponent",
+                    "Id": 16880285896855930892,
+                    "Controller": {
+                        "Configuration": {
+                            "Field of View": 60.0,
+                            "EditorEntityId": 12748860516645979530
+                        }
+                    }
+                },
+                "Component_[17187464423780271193]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 17187464423780271193
+                },
+                "Component_[17495696818315413311]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 17495696818315413311
+                },
+                "Component_[18086214374043522055]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 18086214374043522055,
+                    "Parent Entity": "Entity_[1176639161715]",
+                    "Transform Data": {
+                        "Translate": [
+                            -2.3824684619903564,
+                            0.2048610895872116,
+                            0.7020942568778992
+                        ],
+                        "Rotate": [
+                            1.201366662979126,
+                            8.510625839233398,
+                            -98.06511688232422
+                        ]
+                    }
+                },
+                "Component_[2654521436129313160]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 2654521436129313160
+                },
+                "Component_[5265045084611556958]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 5265045084611556958
+                },
+                "Component_[7169798125182238623]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 7169798125182238623
+                },
+                "Component_[7255796294953281766]": {
+                    "$type": "GenericComponentWrapper",
+                    "Id": 7255796294953281766,
+                    "m_template": {
+                        "$type": "FlyCameraInputComponent",
+                        "Is enabled": false
+                    }
+                },
+                "Component_[8866210352157164042]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 8866210352157164042
+                },
+                "Component_[9129253381063760879]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 9129253381063760879
+                }
+            }
+        },
+        "Entity_[1168049227123]": {
+            "Id": "Entity_[1168049227123]",
+            "Name": "Grid",
+            "Components": {
+                "Component_[11443347433215807130]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 11443347433215807130
+                },
+                "Component_[14249419413039427459]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 14249419413039427459
+                },
+                "Component_[15448581635946161318]": {
+                    "$type": "AZ::Render::EditorGridComponent",
+                    "Id": 15448581635946161318,
+                    "Controller": {
+                        "Configuration": {
+                            "primarySpacing": 4.0,
+                            "primaryColor": [
+                                0.501960813999176,
+                                0.501960813999176,
+                                0.501960813999176
+                            ],
+                            "secondarySpacing": 0.5,
+                            "secondaryColor": [
+                                0.250980406999588,
+                                0.250980406999588,
+                                0.250980406999588
+                            ]
+                        }
+                    }
+                },
+                "Component_[1843303322527297409]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 1843303322527297409
+                },
+                "Component_[380249072065273654]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 380249072065273654,
+                    "Parent Entity": "Entity_[1176639161715]"
+                },
+                "Component_[7476660583684339787]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 7476660583684339787
+                },
+                "Component_[7557626501215118375]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 7557626501215118375
+                },
+                "Component_[7984048488947365511]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 7984048488947365511
+                },
+                "Component_[8118181039276487398]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 8118181039276487398
+                },
+                "Component_[9189909764215270515]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 9189909764215270515
+                }
+            }
+        },
+        "Entity_[1176639161715]": {
+            "Id": "Entity_[1176639161715]",
+            "Name": "Atom Default Environment",
+            "Components": {
+                "Component_[10757302973393310045]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 10757302973393310045,
+                    "Parent Entity": "Entity_[1146574390643]"
+                },
+                "Component_[14505817420424255464]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 14505817420424255464,
+                    "ComponentOrderEntryArray": [
+                        {
+                            "ComponentId": 10757302973393310045
+                        }
+                    ]
+                },
+                "Component_[14988041764659020032]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 14988041764659020032
+                },
+                "Component_[15900837685796817138]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 15900837685796817138
+                },
+                "Component_[3298767348226484884]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 3298767348226484884
+                },
+                "Component_[4076975109609220594]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 4076975109609220594
+                },
+                "Component_[5679760548946028854]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 5679760548946028854
+                },
+                "Component_[5855590796136709437]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 5855590796136709437,
+                    "Child Entity Order": [
+                        "Entity_[1155164325235]",
+                        "Entity_[1180934129011]",
+                        "Entity_[1168049227123]",
+                        "Entity_[1163754259827]",
+                        "Entity_[1159459292531]"
+                    ]
+                },
+                "Component_[9277695270015777859]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 9277695270015777859
+                }
+            }
+        },
+        "Entity_[1180934129011]": {
+            "Id": "Entity_[1180934129011]",
+            "Name": "Global Sky",
+            "Components": {
+                "Component_[11231930600558681245]": {
+                    "$type": "AZ::Render::EditorHDRiSkyboxComponent",
+                    "Id": 11231930600558681245,
+                    "Controller": {
+                        "Configuration": {
+                            "CubemapAsset": {
+                                "assetId": {
+                                    "guid": "{215E47FD-D181-5832-B1AB-91673ABF6399}",
+                                    "subId": 1000
+                                },
+                                "assetHint": "lightingpresets/highcontrast/goegap_4k_skyboxcm.exr.streamingimage"
+                            }
+                        }
+                    }
+                },
+                "Component_[1428633914413949476]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 1428633914413949476
+                },
+                "Component_[14936200426671614999]": {
+                    "$type": "AZ::Render::EditorImageBasedLightComponent",
+                    "Id": 14936200426671614999,
+                    "Controller": {
+                        "Configuration": {
+                            "diffuseImageAsset": {
+                                "assetId": {
+                                    "guid": "{3FD09945-D0F2-55C8-B9AF-B2FD421FE3BE}",
+                                    "subId": 3000
+                                },
+                                "assetHint": "lightingpresets/highcontrast/goegap_4k_iblglobalcm_ibldiffuse.exr.streamingimage"
+                            },
+                            "specularImageAsset": {
+                                "assetId": {
+                                    "guid": "{3FD09945-D0F2-55C8-B9AF-B2FD421FE3BE}",
+                                    "subId": 2000
+                                },
+                                "assetHint": "lightingpresets/highcontrast/goegap_4k_iblglobalcm_iblspecular.exr.streamingimage"
+                            }
+                        }
+                    }
+                },
+                "Component_[14994774102579326069]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 14994774102579326069
+                },
+                "Component_[15417479889044493340]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 15417479889044493340
+                },
+                "Component_[15826613364991382688]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 15826613364991382688
+                },
+                "Component_[1665003113283562343]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 1665003113283562343
+                },
+                "Component_[3704934735944502280]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 3704934735944502280
+                },
+                "Component_[5698542331457326479]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 5698542331457326479
+                },
+                "Component_[6644513399057217122]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 6644513399057217122,
+                    "Parent Entity": "Entity_[1176639161715]"
+                },
+                "Component_[931091830724002070]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 931091830724002070
+                }
+            }
+        },
+        "Entity_[3696075573863]": {
+            "Id": "Entity_[3696075573863]",
+            "Name": "Entity1",
+            "Components": {
+                "Component_[12026528316956244369]": {
+                    "$type": "EditorRigidBodyComponent",
+                    "Id": 12026528316956244369,
+                    "Configuration": {
+                        "entityId": "",
+                        "Mass": 0.15000000596046448,
+                        "Inertia tensor": [
+                            0.00006250001024454832,
+                            0.0,
+                            0.0,
+                            0.0,
+                            0.00006250001024454832,
+                            0.0,
+                            0.0,
+                            0.0,
+                            0.00006250001024454832
+                        ]
+                    }
+                },
+                "Component_[13753717832173326673]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 13753717832173326673
+                },
+                "Component_[13772046221997051943]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 13772046221997051943
+                },
+                "Component_[13794750366076636397]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 13794750366076636397
+                },
+                "Component_[14034201707536350113]": {
+                    "$type": "AZ::Render::EditorMeshComponent",
+                    "Id": 14034201707536350113,
+                    "Controller": {
+                        "Configuration": {
+                            "ModelAsset": {
+                                "assetId": {
+                                    "guid": "{C15CD465-9589-56ED-945F-8416FA4798A3}",
+                                    "subId": 284301017
+                                },
+                                "assetHint": "objects/_primitives/_box_1x1.azmodel"
+                            }
+                        }
+                    }
+                },
+                "Component_[14881687655864975875]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 14881687655864975875
+                },
+                "Component_[16529336413961650553]": {
+                    "$type": "EditorColliderComponent",
+                    "Id": 16529336413961650553,
+                    "ColliderConfiguration": {
+                        "MaterialSlots": {
+                            "Slots": [
+                                {
+                                    "Name": "Entire object",
+                                    "MaterialAsset": {
+                                        "assetId": {
+                                            "guid": "{6D9F8E0A-466E-5774-8974-FC7F0872FD00}",
+                                            "subId": 1
+                                        },
+                                        "assetHint": "physx/rubber.physicsmaterial"
+                                    }
+                                }
+                            ]
+                        }
+                    },
+                    "ShapeConfiguration": {
+                        "ShapeType": 1,
+                        "Box": {
+                            "Scale": [
+                                0.05000000074505806,
+                                0.05000000074505806,
+                                0.05000000074505806
+                            ]
+                        }
+                    }
+                },
+                "Component_[16645264286634162051]": {
+                    "$type": "EditorMaterialComponent",
+                    "Id": 16645264286634162051
+                },
+                "Component_[6312341883022463660]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 6312341883022463660
+                },
+                "Component_[6780155024401207865]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 6780155024401207865
+                },
+                "Component_[8927748789465851276]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 8927748789465851276
+                },
+                "Component_[9501295723441137679]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 9501295723441137679
+                },
+                "Component_[9572048567629855908]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 9572048567629855908,
+                    "Parent Entity": "Entity_[1146574390643]",
+                    "Transform Data": {
+                        "Translate": [
+                            0.0,
+                            -0.007976830005645752,
+                            0.1390380859375
+                        ],
+                        "UniformScale": 0.05000000074505806
+                    }
+                }
+            }
+        },
+        "Entity_[3708960475751]": {
+            "Id": "Entity_[3708960475751]",
+            "Name": "Entity1",
+            "Components": {
+                "Component_[12026528316956244369]": {
+                    "$type": "EditorRigidBodyComponent",
+                    "Id": 12026528316956244369,
+                    "Configuration": {
+                        "entityId": "",
+                        "Mass": 0.125,
+                        "Inertia tensor": [
+                            0.00005208334550843574,
+                            0.0,
+                            0.0,
+                            0.0,
+                            0.00005208334550843574,
+                            0.0,
+                            0.0,
+                            0.0,
+                            0.00005208334550843574
+                        ]
+                    }
+                },
+                "Component_[13753717832173326673]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 13753717832173326673
+                },
+                "Component_[13772046221997051943]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 13772046221997051943
+                },
+                "Component_[13794750366076636397]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 13794750366076636397
+                },
+                "Component_[14034201707536350113]": {
+                    "$type": "AZ::Render::EditorMeshComponent",
+                    "Id": 14034201707536350113,
+                    "Controller": {
+                        "Configuration": {
+                            "ModelAsset": {
+                                "assetId": {
+                                    "guid": "{C15CD465-9589-56ED-945F-8416FA4798A3}",
+                                    "subId": 284301017
+                                },
+                                "assetHint": "objects/_primitives/_box_1x1.azmodel"
+                            }
+                        }
+                    }
+                },
+                "Component_[14881687655864975875]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 14881687655864975875
+                },
+                "Component_[16645264286634162051]": {
+                    "$type": "EditorMaterialComponent",
+                    "Id": 16645264286634162051
+                },
+                "Component_[5282319161955034077]": {
+                    "$type": "EditorColliderComponent",
+                    "Id": 5282319161955034077,
+                    "ColliderConfiguration": {
+                        "MaterialSlots": {
+                            "Slots": [
+                                {
+                                    "Name": "_Box_1x1__1__MiddleGrey__physNone"
+                                }
+                            ]
+                        }
+                    },
+                    "ShapeConfiguration": {
+                        "PhysicsAsset": {
+                            "Asset": {
+                                "assetId": {
+                                    "guid": "{C15CD465-9589-56ED-945F-8416FA4798A3}",
+                                    "subId": 858390244
+                                },
+                                "assetHint": "objects/_primitives/_box_1x1.pxmesh"
+                            },
+                            "Configuration": {
+                                "Scale": [
+                                    0.05000000074505806,
+                                    0.05000000074505806,
+                                    0.05000000074505806
+                                ],
+                                "PhysicsAsset": {
+                                    "assetId": {
+                                        "guid": "{C15CD465-9589-56ED-945F-8416FA4798A3}",
+                                        "subId": 858390244
+                                    },
+                                    "loadBehavior": "QueueLoad",
+                                    "assetHint": "objects/_primitives/_box_1x1.pxmesh"
+                                }
+                            }
+                        }
+                    }
+                },
+                "Component_[6312341883022463660]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 6312341883022463660
+                },
+                "Component_[6780155024401207865]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 6780155024401207865
+                },
+                "Component_[8927748789465851276]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 8927748789465851276
+                },
+                "Component_[9501295723441137679]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 9501295723441137679
+                },
+                "Component_[9572048567629855908]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 9572048567629855908,
+                    "Parent Entity": "Entity_[1146574390643]",
+                    "Transform Data": {
+                        "Translate": [
+                            0.0,
+                            -0.3315107524394989,
+                            0.1390380859375
+                        ],
+                        "UniformScale": 0.05000000074505806
+                    }
+                }
+            }
+        },
+        "Entity_[8947461201303]": {
+            "Id": "Entity_[8947461201303]",
+            "Name": "panda_hand",
+            "Components": {
+                "Component_[12527173394158692186]": {
+                    "$type": "EditorColliderComponent",
+                    "Id": 12527173394158692186,
+                    "ColliderConfiguration": {
+                        "MaterialSlots": {
+                            "Slots": [
+                                {
+                                    "Name": "DefaultMaterial"
+                                }
+                            ]
+                        }
+                    },
+                    "ShapeConfiguration": {
+                        "PhysicsAsset": {
+                            "Asset": {
+                                "assetId": {
+                                    "guid": "{0F8D8030-40D0-50BC-AE6D-DBFDB1423A01}",
+                                    "subId": 3467673227
+                                },
+                                "assetHint": "assets/urdf/panda_description/panda_description/meshes/collision/hand.pxmesh"
+                            },
+                            "Configuration": {
+                                "PhysicsAsset": {
+                                    "assetId": {
+                                        "guid": "{0F8D8030-40D0-50BC-AE6D-DBFDB1423A01}",
+                                        "subId": 3467673227
+                                    },
+                                    "loadBehavior": "QueueLoad",
+                                    "assetHint": "assets/urdf/panda_description/panda_description/meshes/collision/hand.pxmesh"
+                                },
+                                "UseMaterialsFromAsset": false
+                            }
+                        }
+                    }
+                },
+                "Component_[12551621526998967469]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 12551621526998967469
+                },
+                "Component_[13402524642038966171]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 13402524642038966171,
+                    "Child Entity Order": [
+                        "Entity_[8990410874263]",
+                        "Entity_[9007590743447]",
+                        "Entity_[9033360547223]",
+                        "Entity_[8999000808855]"
+                    ]
+                },
+                "Component_[14327394426014884890]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 14327394426014884890
+                },
+                "Component_[14907218637753709498]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 14907218637753709498
+                },
+                "Component_[1747436092034981914]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 1747436092034981914
+                },
+                "Component_[2431709414244243157]": {
+                    "$type": "GenericComponentWrapper",
+                    "Id": 2431709414244243157,
+                    "m_template": {
+                        "$type": "ImGuiGripperTest",
+                        "finger1": "Entity_[8999000808855]",
+                        "finger2": "Entity_[9033360547223]"
+                    }
+                },
+                "Component_[2510677924607121608]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 2510677924607121608
+                },
+                "Component_[3560999535480887286]": {
+                    "$type": "GenericComponentWrapper",
+                    "Id": 3560999535480887286,
+                    "m_template": {
+                        "$type": "ImGuiJointDemo"
+                    }
+                },
+                "Component_[3636147994185355839]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 3636147994185355839
+                },
+                "Component_[3653972652814557705]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 3653972652814557705,
+                    "DisabledComponents": [
+                        {
+                            "$type": "EditorFixedJointComponent",
+                            "Id": 2421854069690983538,
+                            "Configuration": {
+                                "Parent Entity": "",
+                                "Child Entity": "Entity_[8947461201303]"
+                            }
+                        }
+                    ]
+                },
+                "Component_[377223145072966889]": {
+                    "$type": "EditorRigidBodyComponent",
+                    "Id": 377223145072966889,
+                    "Configuration": {
+                        "entityId": "",
+                        "Compute Mass": false,
+                        "Mass": 0.14060765504837036,
+                        "Compute COM": false,
+                        "Centre of mass offset": [
+                            -0.00000676240006214357,
+                            0.0015243500238284469,
+                            0.027591200545430183
+                        ],
+                        "Compute inertia": false,
+                        "Inertia tensor": [
+                            0.0005365450633689761,
+                            0.0,
+                            0.0,
+                            0.0,
+                            0.00007705121242906898,
+                            0.0,
+                            0.0,
+                            0.0,
+                            0.0004938176716677845
+                        ]
+                    },
+                    "PhysXSpecificConfiguration": {
+                        "SolverPositionIterations": 40,
+                        "SolverVelocityIterations": 10
+                    }
+                },
+                "Component_[9156404775394516739]": {
+                    "$type": "EditorPrismaticJointComponent",
+                    "Id": 9156404775394516739,
+                    "Configuration": {
+                        "Local Rotation": [
+                            0.0,
+                            90.0,
+                            0.0
+                        ],
+                        "Parent Entity": "Entity_[9175094467991]",
+                        "Child Entity": "Entity_[8947461201303]"
+                    },
+                    "Linear Limit": {
+                        "Lower Limit": -0.4000000059604645,
+                        "Upper Limit": 0.4000000059604645
+                    },
+                    "Motor": {
+                        "UseMotor": true
+                    }
+                },
+                "Component_[9416643980828405623]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 9416643980828405623,
+                    "Parent Entity": "Entity_[9175094467991]",
+                    "Transform Data": {
+                        "Translate": [
+                            -1.8028667471878235e-16,
+                            1.94432093477197e-23,
+                            -0.1600697636604309
+                        ],
+                        "Rotate": [
+                            180.0,
+                            -6.453231639379567e-14,
+                            0.0
+                        ]
+                    }
+                }
+            }
+        },
+        "Entity_[8956051135895]": {
+            "Id": "Entity_[8956051135895]",
+            "Name": "panda_leftfinger_visual",
+            "Components": {
+                "Component_[13811571509749743189]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 13811571509749743189
+                },
+                "Component_[15201822486803307758]": {
+                    "$type": "AZ::Render::EditorMeshComponent",
+                    "Id": 15201822486803307758,
+                    "Controller": {
+                        "Configuration": {
+                            "ModelAsset": {
+                                "assetId": {
+                                    "guid": "{3FD33201-6283-5104-80D7-34AD0DCEF99C}",
+                                    "subId": 279808703
+                                },
+                                "assetHint": "assets/urdf/panda_description/panda_description/meshes/visual/finger.azmodel"
+                            }
+                        }
+                    }
+                },
+                "Component_[17912093847931097253]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 17912093847931097253
+                },
+                "Component_[18137102233943031321]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 18137102233943031321
+                },
+                "Component_[18230585574590685193]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 18230585574590685193
+                },
+                "Component_[4640473479684852658]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 4640473479684852658
+                },
+                "Component_[4641901124960453463]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 4641901124960453463
+                },
+                "Component_[6926860558467937457]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 6926860558467937457
+                },
+                "Component_[8659698482583807911]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 8659698482583807911,
+                    "Parent Entity": "Entity_[9033360547223]"
+                },
+                "Component_[9996370531107794697]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 9996370531107794697
+                }
+            }
+        },
+        "Entity_[8964641070487]": {
+            "Id": "Entity_[8964641070487]",
+            "Name": "panda_rightfinger_visual",
+            "Components": {
+                "Component_[10427126601697002200]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 10427126601697002200
+                },
+                "Component_[10689701807611894787]": {
+                    "$type": "AZ::Render::EditorMeshComponent",
+                    "Id": 10689701807611894787,
+                    "Controller": {
+                        "Configuration": {
+                            "ModelAsset": {
+                                "assetId": {
+                                    "guid": "{3FD33201-6283-5104-80D7-34AD0DCEF99C}",
+                                    "subId": 279808703
+                                },
+                                "assetHint": "assets/urdf/panda_description/panda_description/meshes/visual/finger.azmodel"
+                            }
+                        }
+                    }
+                },
+                "Component_[13864387599980986616]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 13864387599980986616,
+                    "Parent Entity": "Entity_[8999000808855]",
+                    "Transform Data": {
+                        "Rotate": [
+                            0.0,
+                            0.0,
+                            180.0
+                        ]
+                    }
+                },
+                "Component_[14849482791957566358]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 14849482791957566358
+                },
+                "Component_[15740343562745812959]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 15740343562745812959
+                },
+                "Component_[17958433759910135046]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 17958433759910135046
+                },
+                "Component_[18262241756789109341]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 18262241756789109341
+                },
+                "Component_[3260035828538141562]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 3260035828538141562
+                },
+                "Component_[5734562379059832260]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 5734562379059832260
+                },
+                "Component_[6043899250469168749]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 6043899250469168749
+                }
+            }
+        },
+        "Entity_[8990410874263]": {
+            "Id": "Entity_[8990410874263]",
+            "Name": "panda_hand_visual",
+            "Components": {
+                "Component_[11211061689771920349]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 11211061689771920349
+                },
+                "Component_[12203146110749621458]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 12203146110749621458
+                },
+                "Component_[15651020913592034875]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 15651020913592034875
+                },
+                "Component_[1651217386630922893]": {
+                    "$type": "AZ::Render::EditorMeshComponent",
+                    "Id": 1651217386630922893,
+                    "Controller": {
+                        "Configuration": {
+                            "ModelAsset": {
+                                "assetId": {
+                                    "guid": "{0439E4F6-C733-55C6-BFD3-7F57D941CA58}",
+                                    "subId": 274875023
+                                },
+                                "assetHint": "assets/urdf/panda_description/panda_description/meshes/visual/hand.azmodel"
+                            }
+                        }
+                    }
+                },
+                "Component_[17061060562978745083]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 17061060562978745083
+                },
+                "Component_[1769651324208618943]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 1769651324208618943,
+                    "Parent Entity": "Entity_[8947461201303]"
+                },
+                "Component_[1814292244042225763]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 1814292244042225763
+                },
+                "Component_[4607802330473043710]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 4607802330473043710
+                },
+                "Component_[4633219056900219123]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 4633219056900219123
+                },
+                "Component_[9787806027699440895]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 9787806027699440895
+                }
+            }
+        },
+        "Entity_[8999000808855]": {
+            "Id": "Entity_[8999000808855]",
+            "Name": "panda_rightfinger",
+            "Components": {
+                "Component_[12094943479793120756]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 12094943479793120756
+                },
+                "Component_[1352358979643850014]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 1352358979643850014
+                },
+                "Component_[14554244268325390611]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 14554244268325390611
+                },
+                "Component_[1543342704919662467]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 1543342704919662467,
+                    "Parent Entity": "Entity_[8947461201303]",
+                    "Transform Data": {
+                        "Translate": [
+                            0.0,
+                            0.0,
+                            0.05840003490447998
+                        ]
+                    }
+                },
+                "Component_[16273116764622982077]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 16273116764622982077
+                },
+                "Component_[1903930015834931168]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 1903930015834931168
+                },
+                "Component_[2188957055815424499]": {
+                    "$type": "EditorColliderComponent",
+                    "Id": 2188957055815424499,
+                    "ColliderConfiguration": {
+                        "Rotation": [
+                            0.0,
+                            0.0,
+                            1.0,
+                            6.123234262925839e-17
+                        ],
+                        "MaterialSlots": {
+                            "Slots": [
+                                {
+                                    "Name": "DefaultMaterial"
+                                }
+                            ]
+                        }
+                    },
+                    "ShapeConfiguration": {
+                        "PhysicsAsset": {
+                            "Asset": {
+                                "assetId": {
+                                    "guid": "{DFAC8757-EC4A-5885-AAB8-F7E86593D73E}",
+                                    "subId": 4167574034
+                                },
+                                "assetHint": "assets/urdf/panda_description/panda_description/meshes/collision/finger.pxmesh"
+                            },
+                            "Configuration": {
+                                "PhysicsAsset": {
+                                    "assetId": {
+                                        "guid": "{DFAC8757-EC4A-5885-AAB8-F7E86593D73E}",
+                                        "subId": 4167574034
+                                    },
+                                    "loadBehavior": "QueueLoad",
+                                    "assetHint": "assets/urdf/panda_description/panda_description/meshes/collision/finger.pxmesh"
+                                },
+                                "UseMaterialsFromAsset": false
+                            }
+                        }
+                    }
+                },
+                "Component_[2310690044688145497]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 2310690044688145497
+                },
+                "Component_[4879485097231618998]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 4879485097231618998,
+                    "Child Entity Order": [
+                        "Entity_[8964641070487]"
+                    ]
+                },
+                "Component_[5165586741528335352]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 5165586741528335352
+                },
+                "Component_[7834469565463677581]": {
+                    "$type": "EditorRigidBodyComponent",
+                    "Id": 7834469565463677581,
+                    "Configuration": {
+                        "entityId": "",
+                        "Compute Mass": false,
+                        "Mass": 0.22384534776210785,
+                        "Compute COM": false,
+                        "Centre of mass offset": [
+                            -0.000006256099823076511,
+                            0.0022778098937124014,
+                            -0.027711600065231323
+                        ],
+                        "Compute inertia": false,
+                        "Inertia tensor": [
+                            0.0000674804177833721,
+                            0.0,
+                            0.0,
+                            0.0,
+                            0.00006734378985129297,
+                            0.0,
+                            0.0,
+                            0.0,
+                            0.00001958559369086288
+                        ]
+                    },
+                    "PhysXSpecificConfiguration": {
+                        "SolverPositionIterations": 40,
+                        "SolverVelocityIterations": 10
+                    }
+                },
+                "Component_[9780676025675487972]": {
+                    "$type": "EditorPrismaticJointComponent",
+                    "Id": 9780676025675487972,
+                    "Configuration": {
+                        "Local Rotation": [
+                            0.0,
+                            0.0,
+                            -89.99999237060547
+                        ],
+                        "Parent Entity": "Entity_[8947461201303]",
+                        "Child Entity": "Entity_[8999000808855]"
+                    },
+                    "Linear Limit": {
+                        "Lower Limit": 0.0,
+                        "Upper Limit": 0.03999999910593033
+                    },
+                    "Motor": {
+                        "UseMotor": true
+                    }
+                }
+            }
+        },
+        "Entity_[9007590743447]": {
+            "Id": "Entity_[9007590743447]",
+            "Name": "panda_hand_tcp",
+            "Components": {
+                "Component_[10582914669692011379]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 10582914669692011379
+                },
+                "Component_[11327277288832805612]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 11327277288832805612,
+                    "PendingComponents": [
+                        {
+                            "$type": "EditorFixedJointComponent",
+                            "Id": 17021558034967498113,
+                            "Configuration": {
+                                "Parent Entity": "",
+                                "Child Entity": ""
+                            }
+                        }
+                    ]
+                },
+                "Component_[1474299501676068654]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 1474299501676068654
+                },
+                "Component_[1517674267450270052]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 1517674267450270052
+                },
+                "Component_[15552109761671889265]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 15552109761671889265
+                },
+                "Component_[17444019532647519607]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 17444019532647519607
+                },
+                "Component_[3176941860568013745]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 3176941860568013745
+                },
+                "Component_[3520662844547153627]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 3520662844547153627,
+                    "Parent Entity": "Entity_[8947461201303]",
+                    "Transform Data": {
+                        "Translate": [
+                            0.0,
+                            0.0,
+                            0.10340005159378052
+                        ]
+                    }
+                },
+                "Component_[7666659741322162513]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 7666659741322162513
+                }
+            }
+        },
+        "Entity_[9033360547223]": {
+            "Id": "Entity_[9033360547223]",
+            "Name": "panda_leftfinger",
+            "Components": {
+                "Component_[10623052683589204749]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 10623052683589204749
+                },
+                "Component_[1226223175206848789]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 1226223175206848789
+                },
+                "Component_[12542366717714580296]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 12542366717714580296
+                },
+                "Component_[1642651622480229913]": {
+                    "$type": "EditorColliderComponent",
+                    "Id": 1642651622480229913,
+                    "ColliderConfiguration": {
+                        "MaterialSlots": {
+                            "Slots": [
+                                {
+                                    "Name": "DefaultMaterial"
+                                }
+                            ]
+                        }
+                    },
+                    "ShapeConfiguration": {
+                        "PhysicsAsset": {
+                            "Asset": {
+                                "assetId": {
+                                    "guid": "{DFAC8757-EC4A-5885-AAB8-F7E86593D73E}",
+                                    "subId": 4167574034
+                                },
+                                "assetHint": "assets/urdf/panda_description/panda_description/meshes/collision/finger.pxmesh"
+                            },
+                            "Configuration": {
+                                "PhysicsAsset": {
+                                    "assetId": {
+                                        "guid": "{DFAC8757-EC4A-5885-AAB8-F7E86593D73E}",
+                                        "subId": 4167574034
+                                    },
+                                    "loadBehavior": "QueueLoad",
+                                    "assetHint": "assets/urdf/panda_description/panda_description/meshes/collision/finger.pxmesh"
+                                },
+                                "UseMaterialsFromAsset": false
+                            }
+                        }
+                    }
+                },
+                "Component_[18095480052002538812]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 18095480052002538812,
+                    "Parent Entity": "Entity_[8947461201303]",
+                    "Transform Data": {
+                        "Translate": [
+                            0.0,
+                            0.0,
+                            0.05840003490447998
+                        ]
+                    }
+                },
+                "Component_[4530903244721043167]": {
+                    "$type": "EditorPrismaticJointComponent",
+                    "Id": 4530903244721043167,
+                    "Configuration": {
+                        "Local Rotation": [
+                            0.0,
+                            0.0,
+                            89.99999237060547
+                        ],
+                        "Parent Entity": "Entity_[8947461201303]",
+                        "Child Entity": "Entity_[9033360547223]"
+                    },
+                    "Linear Limit": {
+                        "Lower Limit": 0.0,
+                        "Upper Limit": 0.03999999910593033
+                    },
+                    "Motor": {
+                        "UseMotor": true
+                    }
+                },
+                "Component_[5011659990375240844]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 5011659990375240844
+                },
+                "Component_[6020773828605036995]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 6020773828605036995
+                },
+                "Component_[7846565595297359090]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 7846565595297359090
+                },
+                "Component_[793825956035625059]": {
+                    "$type": "EditorRigidBodyComponent",
+                    "Id": 793825956035625059,
+                    "Configuration": {
+                        "entityId": "",
+                        "Compute Mass": false,
+                        "Mass": 0.22384534776210785,
+                        "Compute COM": false,
+                        "Centre of mass offset": [
+                            -0.000006256099823076511,
+                            0.0022778098937124014,
+                            -0.027711600065231323
+                        ],
+                        "Compute inertia": false,
+                        "Inertia tensor": [
+                            0.0000674804177833721,
+                            0.0,
+                            0.0,
+                            0.0,
+                            0.00006734378985129297,
+                            0.0,
+                            0.0,
+                            0.0,
+                            0.00001958559369086288
+                        ]
+                    },
+                    "PhysXSpecificConfiguration": {
+                        "SolverPositionIterations": 40,
+                        "SolverVelocityIterations": 10
+                    }
+                },
+                "Component_[8237210125200439601]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 8237210125200439601,
+                    "Child Entity Order": [
+                        "Entity_[8956051135895]"
+                    ]
+                },
+                "Component_[9630688787517995368]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 9630688787517995368
+                }
+            }
+        },
+        "Entity_[9175094467991]": {
+            "Id": "Entity_[9175094467991]",
+            "Name": "GantryY",
+            "Components": {
+                "Component_[10261023484142785346]": {
+                    "$type": "EditorRigidBodyComponent",
+                    "Id": 10261023484142785346,
+                    "Configuration": {
+                        "entityId": ""
+                    }
+                },
+                "Component_[12072694104371635475]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 12072694104371635475
+                },
+                "Component_[14164686642032791129]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 14164686642032791129
+                },
+                "Component_[16450921728045154038]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 16450921728045154038,
+                    "Child Entity Order": [
+                        "Entity_[8947461201303]"
+                    ]
+                },
+                "Component_[17465124417654473654]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 17465124417654473654
+                },
+                "Component_[17533535424425981400]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 17533535424425981400
+                },
+                "Component_[17824886253751860737]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 17824886253751860737
+                },
+                "Component_[2245470603297242335]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 2245470603297242335
+                },
+                "Component_[2474975820773514614]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 2474975820773514614,
+                    "Parent Entity": "Entity_[1146574390643]",
+                    "Transform Data": {
+                        "Translate": [
+                            0.0,
+                            0.0,
+                            0.4689590334892273
+                        ]
+                    }
+                },
+                "Component_[6779804124652078141]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 6779804124652078141
+                },
+                "Component_[6825302676386140709]": {
+                    "$type": "EditorPrismaticJointComponent",
+                    "Id": 6825302676386140709,
+                    "Configuration": {
+                        "Local Rotation": [
+                            0.0,
+                            0.0,
+                            90.0
+                        ],
+                        "Parent Entity": "",
+                        "Child Entity": "Entity_[9175094467991]"
+                    },
+                    "Motor": {
+                        "UseMotor": true
+                    }
+                },
+                "Component_[7271911043640850141]": {
+                    "$type": "EditorSphereShapeComponent",
+                    "Id": 7271911043640850141,
+                    "SphereShape": {
+                        "Configuration": {
+                            "Radius": 0.10000000149011612
+                        }
+                    }
+                },
+                "Component_[8757914110207973270]": {
+                    "$type": "GenericComponentWrapper",
+                    "Id": 8757914110207973270,
+                    "m_template": {
+                        "$type": "ImGuiJointDemo"
+                    }
+                }
+            }
+        }
+    }
+}

Levels/Robot/Robot.prefab

@@ -141,6 +141,10 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 16919232076966545697
                 },
+                "Component_[3746064424470772559]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 3746064424470772559
+                },
                 "Component_[5182430712893438093]": {
                     "$type": "EditorMaterialComponent",
                     "Id": 5182430712893438093

Levels/manipulator_physics/manipulator_physics.prefab

@@ -42,10 +42,6 @@
                 "$type": "EditorEntityIconComponent",
                 "Id": 5688118765544765547
             },
-            "Component_[6545738857812235305]": {
-                "$type": "SelectionComponent",
-                "Id": 6545738857812235305
-            },
             "Component_[7247035804068349658]": {
                 "$type": "EditorPrefabComponent",
                 "Id": 7247035804068349658
@@ -93,10 +89,6 @@
                     "$type": "EditorEntityIconComponent",
                     "Id": 15358836356355422614
                 },
-                "Component_[15905589229029666669]": {
-                    "$type": "SelectionComponent",
-                    "Id": 15905589229029666669
-                },
                 "Component_[5952889190022614856]": {
                     "$type": "EditorOnlyEntityComponent",
                     "Id": 5952889190022614856
@@ -203,10 +195,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -334,10 +322,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -465,10 +449,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -596,10 +576,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -729,10 +705,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -826,10 +798,6 @@
                     "$type": "EditorEntityIconComponent",
                     "Id": 5666215999136652652
                 },
-                "Component_[6424014773075438961]": {
-                    "$type": "SelectionComponent",
-                    "Id": 6424014773075438961
-                },
                 "Component_[7039399031170299055]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 7039399031170299055,
@@ -877,10 +845,6 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 15967138132862268565
                 },
-                "Component_[17135350607700767933]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17135350607700767933
-                },
                 "Component_[1713557679905336488]": {
                     "$type": "EditorLockComponent",
                     "Id": 1713557679905336488
@@ -1017,10 +981,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -1089,10 +1049,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -1216,10 +1172,6 @@
                     "$type": "EditorEntityIconComponent",
                     "Id": 5666215999136652652
                 },
-                "Component_[6424014773075438961]": {
-                    "$type": "SelectionComponent",
-                    "Id": 6424014773075438961
-                },
                 "Component_[7039399031170299055]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 7039399031170299055,
@@ -1325,10 +1277,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -1456,10 +1404,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -1583,10 +1527,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -1656,10 +1596,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -1805,10 +1741,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -1931,10 +1863,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -2059,10 +1987,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -2197,10 +2121,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -2253,10 +2173,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994,
@@ -2348,10 +2264,6 @@
             "Id": "Entity_[1155164325235]",
             "Name": "Sun",
             "Components": {
-                "Component_[10440557478882592717]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10440557478882592717
-                },
                 "Component_[13620450453324765907]": {
                     "$type": "EditorLockComponent",
                     "Id": 13620450453324765907
@@ -2418,10 +2330,6 @@
             "Id": "Entity_[1159459292531]",
             "Name": "Ground",
             "Components": {
-                "Component_[11701138785793981042]": {
-                    "$type": "SelectionComponent",
-                    "Id": 11701138785793981042
-                },
                 "Component_[12260880513256986252]": {
                     "$type": "EditorEntityIconComponent",
                     "Id": 12260880513256986252
@@ -2443,6 +2351,10 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 16919232076966545697
                 },
+                "Component_[18295771959372030411]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 18295771959372030411
+                },
                 "Component_[5182430712893438093]": {
                     "$type": "EditorMaterialComponent",
                     "Id": 5182430712893438093
@@ -2560,10 +2472,6 @@
                         ]
                     }
                 },
-                "Component_[18387556550380114975]": {
-                    "$type": "SelectionComponent",
-                    "Id": 18387556550380114975
-                },
                 "Component_[2654521436129313160]": {
                     "$type": "EditorVisibilityComponent",
                     "Id": 2654521436129313160
@@ -2617,10 +2525,6 @@
                     "$type": "EditorLockComponent",
                     "Id": 14988041764659020032
                 },
-                "Component_[15808690248755038124]": {
-                    "$type": "SelectionComponent",
-                    "Id": 15808690248755038124
-                },
                 "Component_[15900837685796817138]": {
                     "$type": "EditorVisibilityComponent",
                     "Id": 15900837685796817138
@@ -2736,10 +2640,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -2885,10 +2785,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -3016,10 +2912,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -3147,10 +3039,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -3278,10 +3166,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -3334,10 +3218,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -3533,10 +3413,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -3708,10 +3584,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -3762,10 +3634,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -3915,10 +3783,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -3966,10 +3830,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -4049,10 +3909,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -4132,10 +3988,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -4211,10 +4063,6 @@
             "Id": "Entity_[20196045602893]",
             "Name": "measure_2x2m",
             "Components": {
-                "Component_[10385674922778075414]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10385674922778075414
-                },
                 "Component_[15395719400645677736]": {
                     "$type": "EditorInspectorComponent",
                     "Id": 15395719400645677736
@@ -4353,10 +4201,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -4525,10 +4369,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -4678,10 +4518,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2352056473622872246]": {
                     "$type": "EditorFixedJointComponent",
                     "Id": 2352056473622872246,
@@ -4813,10 +4649,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -4944,10 +4776,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -5075,10 +4903,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -5157,10 +4981,6 @@
                     "$type": "EditorEntityIconComponent",
                     "Id": 5666215999136652652
                 },
-                "Component_[6424014773075438961]": {
-                    "$type": "SelectionComponent",
-                    "Id": 6424014773075438961
-                },
                 "Component_[7039399031170299055]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 7039399031170299055,
@@ -5259,10 +5079,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -5331,10 +5147,6 @@
                     "$type": "EditorOnlyEntityComponent",
                     "Id": 220099518889250694
                 },
-                "Component_[4439707173566743484]": {
-                    "$type": "SelectionComponent",
-                    "Id": 4439707173566743484
-                },
                 "Component_[6797579025654370146]": {
                     "$type": "EditorEntityIconComponent",
                     "Id": 6797579025654370146
@@ -5404,10 +5216,6 @@
                         ]
                     }
                 },
-                "Component_[2717616313964251709]": {
-                    "$type": "SelectionComponent",
-                    "Id": 2717616313964251709
-                },
                 "Component_[2862563896536328115]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 2862563896536328115,
@@ -5485,10 +5293,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -5568,10 +5372,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -5646,10 +5446,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -5770,10 +5566,6 @@
                     "$type": "EditorOnlyEntityComponent",
                     "Id": 15157695785900428231
                 },
-                "Component_[15299442423471528246]": {
-                    "$type": "SelectionComponent",
-                    "Id": 15299442423471528246
-                },
                 "Component_[17294276806632894777]": {
                     "$type": "EditorInspectorComponent",
                     "Id": 17294276806632894777
@@ -5801,10 +5593,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -5884,10 +5672,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -5962,10 +5746,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -6045,10 +5825,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -6128,10 +5904,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -6211,10 +5983,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -6289,10 +6057,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -6367,10 +6131,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -6445,10 +6205,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -6528,10 +6284,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -6611,10 +6363,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -6694,10 +6442,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -6777,10 +6521,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -6860,10 +6600,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -6943,10 +6679,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -7026,10 +6758,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -7109,10 +6837,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -7192,10 +6916,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -7275,10 +6995,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -7358,10 +7074,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -7453,10 +7165,6 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 15967138132862268565
                 },
-                "Component_[17135350607700767933]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17135350607700767933
-                },
                 "Component_[1713557679905336488]": {
                     "$type": "EditorLockComponent",
                     "Id": 1713557679905336488
@@ -7520,10 +7228,6 @@
                     "$type": "EditorEntityIconComponent",
                     "Id": 5666215999136652652
                 },
-                "Component_[6424014773075438961]": {
-                    "$type": "SelectionComponent",
-                    "Id": 6424014773075438961
-                },
                 "Component_[7039399031170299055]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 7039399031170299055,
@@ -7622,10 +7326,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -7753,10 +7453,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -7835,10 +7531,6 @@
                     "$type": "EditorEntityIconComponent",
                     "Id": 5666215999136652652
                 },
-                "Component_[6424014773075438961]": {
-                    "$type": "SelectionComponent",
-                    "Id": 6424014773075438961
-                },
                 "Component_[7039399031170299055]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 7039399031170299055,
@@ -7944,10 +7636,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -8075,10 +7763,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -8155,10 +7839,6 @@
                     "$type": "EditorEntityIconComponent",
                     "Id": 15358836356355422614
                 },
-                "Component_[15905589229029666669]": {
-                    "$type": "SelectionComponent",
-                    "Id": 15905589229029666669
-                },
                 "Component_[5952889190022614856]": {
                     "$type": "EditorOnlyEntityComponent",
                     "Id": 5952889190022614856
@@ -8271,10 +7951,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -8379,10 +8055,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994
@@ -8537,10 +8209,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -8668,10 +8336,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142
@@ -8724,10 +8388,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 10161390740726725323
                 },
-                "Component_[10313460414624957718]": {
-                    "$type": "SelectionComponent",
-                    "Id": 10313460414624957718
-                },
                 "Component_[13816520932722032994]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 13816520932722032994,
@@ -8916,10 +8576,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 17828196895728941090
                 },
-                "Component_[17924257275387602237]": {
-                    "$type": "SelectionComponent",
-                    "Id": 17924257275387602237
-                },
                 "Component_[2897809620595290142]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 2897809620595290142

Levels/mecanum_test/mecanum_test.prefab

@@ -82,6 +82,10 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 12271054571961146875
                 },
+                "Component_[12631259312532477039]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 12631259312532477039
+                },
                 "Component_[16616440410168978878]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 16616440410168978878,
@@ -123,11 +127,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -337,11 +336,6 @@
                                 }
                             ]
                         },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
-                        },
                         "propertyVisibilityFlags": 235
                     },
                     "ShapeConfigs": [
@@ -379,6 +373,10 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 16919232076966545697
                 },
+                "Component_[1920854084114185009]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 1920854084114185009
+                },
                 "Component_[4313406717160387852]": {
                     "$type": "LmbrCentral::EditorQuadShapeComponent",
                     "Id": 4313406717160387852,
@@ -486,6 +484,10 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 12271054571961146875
                 },
+                "Component_[13647076779828372829]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 13647076779828372829
+                },
                 "Component_[16616440410168978878]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 16616440410168978878,
@@ -532,11 +534,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -680,6 +677,10 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 12271054571961146875
                 },
+                "Component_[14498765397538423777]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 14498765397538423777
+                },
                 "Component_[16616440410168978878]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 16616440410168978878,
@@ -726,11 +727,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -898,6 +894,10 @@
                         ]
                     }
                 },
+                "Component_[18115594451195591891]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 18115594451195591891
+                },
                 "Component_[5609115821002756754]": {
                     "$type": "EditorLockComponent",
                     "Id": 5609115821002756754
@@ -920,11 +920,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1068,6 +1063,10 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 12271054571961146875
                 },
+                "Component_[14663327300699219111]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 14663327300699219111
+                },
                 "Component_[16616440410168978878]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 16616440410168978878,
@@ -1114,11 +1113,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1254,6 +1248,10 @@
                     "$type": "EditorVisibilityComponent",
                     "Id": 11116578058423845630
                 },
+                "Component_[11588615590713790421]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 11588615590713790421
+                },
                 "Component_[11836507567374440610]": {
                     "$type": "EditorInspectorComponent",
                     "Id": 11836507567374440610
@@ -1308,11 +1306,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1463,6 +1456,10 @@
                         "Entity_[153742235699190]"
                     ]
                 },
+                "Component_[17224602196969539541]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 17224602196969539541
+                },
                 "Component_[1807931960527701319]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 1807931960527701319,
@@ -1497,11 +1494,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1645,6 +1637,10 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 12271054571961146875
                 },
+                "Component_[13233948155575844525]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 13233948155575844525
+                },
                 "Component_[16616440410168978878]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 16616440410168978878,
@@ -1686,11 +1682,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1972,11 +1963,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2163,11 +2149,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2359,11 +2340,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2550,11 +2526,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2698,6 +2669,10 @@
                         ]
                     }
                 },
+                "Component_[5385761195490754935]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 5385761195490754935
+                },
                 "Component_[5609115821002756754]": {
                     "$type": "EditorLockComponent",
                     "Id": 5609115821002756754
@@ -2720,11 +2695,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2914,11 +2884,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2944,6 +2909,10 @@
                             ]
                         }
                     }
+                },
+                "Component_[9494584845637811339]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 9494584845637811339
                 }
             }
         },
@@ -3104,7 +3073,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -3249,7 +3218,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -3452,7 +3421,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -3713,7 +3682,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -3916,7 +3885,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -4114,7 +4083,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -4451,7 +4420,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -4625,7 +4594,6 @@
                         "Negative Limit": -360.0
                     },
                     "Motor": {
-                        "UseMotor": true,
                         "UseMotor": true
                     }
                 },
@@ -4879,7 +4847,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -5024,7 +4992,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -5227,7 +5195,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -5372,7 +5340,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -5517,7 +5485,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -5709,7 +5677,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -5923,7 +5891,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -6184,7 +6152,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -6516,7 +6484,6 @@
                         "Negative Limit": -360.0
                     },
                     "Motor": {
-                        "UseMotor": true,
                         "UseMotor": true
                     }
                 },
@@ -7826,7 +7793,6 @@
                         "Negative Limit": -360.0
                     },
                     "Motor": {
-                        "UseMotor": true,
                         "UseMotor": true
                     }
                 },
@@ -8104,7 +8070,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -8348,7 +8314,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -8546,7 +8512,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -8744,7 +8710,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -8942,7 +8908,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -9140,7 +9106,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -9327,7 +9293,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -9536,7 +9502,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -9681,7 +9647,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -9826,7 +9792,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -10024,7 +9990,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -10275,7 +10241,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -10473,7 +10439,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -10653,7 +10619,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -11007,7 +10973,7 @@
                     "Configuration": {
                         "entityId": "",
                         "Compute Mass": false,
-                        "Mass": 0.1,
+                        "Mass": 0.10000000149011612,
                         "Inertia tensor": [
                             0.0010658798273652792,
                             0.0,
@@ -11170,7 +11136,6 @@
                         "Negative Limit": -360.0
                     },
                     "Motor": {
-                        "UseMotor": true,
                         "UseMotor": true
                     }
                 },

Levels/mobile_robot_physics/mobile_robot_physics.prefab

@@ -82,6 +82,10 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 12271054571961146875
                 },
+                "Component_[15804983263073569701]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 15804983263073569701
+                },
                 "Component_[16616440410168978878]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 16616440410168978878,
@@ -123,11 +127,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -337,11 +336,6 @@
                                 }
                             ]
                         },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
-                        },
                         "propertyVisibilityFlags": 235
                     },
                     "ShapeConfigs": [
@@ -379,6 +373,10 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 16919232076966545697
                 },
+                "Component_[17091172011596914166]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 17091172011596914166
+                },
                 "Component_[4313406717160387852]": {
                     "$type": "LmbrCentral::EditorQuadShapeComponent",
                     "Id": 4313406717160387852,
@@ -767,11 +765,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -936,11 +929,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1033,6 +1021,10 @@
                     "$type": "EditorVisibilityComponent",
                     "Id": 11116578058423845630
                 },
+                "Component_[11559604348357172528]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 11559604348357172528
+                },
                 "Component_[11836507567374440610]": {
                     "$type": "EditorInspectorComponent",
                     "Id": 11836507567374440610
@@ -1087,11 +1079,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1185,11 +1172,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1330,11 +1312,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1750,6 +1727,10 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 12271054571961146875
                 },
+                "Component_[15280187260199735549]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 15280187260199735549
+                },
                 "Component_[16616440410168978878]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 16616440410168978878,
@@ -1796,11 +1777,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1944,6 +1920,10 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 12271054571961146875
                 },
+                "Component_[146559827129400108]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 146559827129400108
+                },
                 "Component_[16616440410168978878]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 16616440410168978878,
@@ -1990,11 +1970,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2162,6 +2137,10 @@
                         ]
                     }
                 },
+                "Component_[3419127599919228854]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 3419127599919228854
+                },
                 "Component_[5609115821002756754]": {
                     "$type": "EditorLockComponent",
                     "Id": 5609115821002756754
@@ -2184,11 +2163,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2356,6 +2330,10 @@
                         ]
                     }
                 },
+                "Component_[18417270084318117392]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 18417270084318117392
+                },
                 "Component_[5609115821002756754]": {
                     "$type": "EditorLockComponent",
                     "Id": 5609115821002756754
@@ -2378,11 +2356,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2533,6 +2506,10 @@
                         "Entity_[153742235699190]"
                     ]
                 },
+                "Component_[17926093226192669174]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 17926093226192669174
+                },
                 "Component_[1807931960527701319]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 1807931960527701319,
@@ -2567,11 +2544,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2695,6 +2667,10 @@
             "Id": "Entity_[157968483518454]",
             "Name": "wall",
             "Components": {
+                "Component_[10582146788802327395]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 10582146788802327395
+                },
                 "Component_[10953876651268642258]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 10953876651268642258
@@ -2756,11 +2732,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -3042,11 +3013,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -3233,11 +3199,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -3429,11 +3390,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -3620,11 +3576,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -3751,6 +3702,10 @@
                         "Entity_[176282224068598]"
                     ]
                 },
+                "Component_[169660306230243549]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 169660306230243549
+                },
                 "Component_[1807931960527701319]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 1807931960527701319,
@@ -3790,11 +3745,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -3945,6 +3895,10 @@
                         "Entity_[178713175558134]"
                     ]
                 },
+                "Component_[17818189146589142064]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 17818189146589142064
+                },
                 "Component_[1807931960527701319]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 1807931960527701319,
@@ -3984,11 +3938,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -4358,11 +4307,6 @@
                                     }
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -4582,11 +4526,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -4731,11 +4670,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -5164,11 +5098,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -5623,11 +5552,6 @@
                                     }
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -5784,11 +5708,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [

Levels/robotic-arm/robotic-arm.prefab

@@ -138,6 +138,10 @@
                     "$type": "EditorOnlyEntityComponent",
                     "Id": 138002849734991713
                 },
+                "Component_[13883352761969014787]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 13883352761969014787
+                },
                 "Component_[16578565737331764849]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 16578565737331764849,

Levels/skid_steering_test/skid_steering_test.prefab

@@ -109,6 +109,10 @@
                     "$type": "EditorEntityIconComponent",
                     "Id": 7412142156647776837
                 },
+                "Component_[7413255840514600699]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 7413255840514600699
+                },
                 "Component_[7907396654938691310]": {
                     "$type": "EditorNonUniformScaleComponent",
                     "Id": 7907396654938691310
@@ -123,11 +127,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -337,11 +336,6 @@
                                 }
                             ]
                         },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
-                        },
                         "propertyVisibilityFlags": 235
                     },
                     "ShapeConfigs": [
@@ -363,6 +357,10 @@
                     "$type": "EditorOnlyEntityComponent",
                     "Id": 138002849734991713
                 },
+                "Component_[16435958055117640739]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 16435958055117640739
+                },
                 "Component_[16578565737331764849]": {
                     "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
                     "Id": 16578565737331764849,
@@ -518,6 +516,10 @@
                     "$type": "EditorEntityIconComponent",
                     "Id": 7412142156647776837
                 },
+                "Component_[7520820829904733998]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 7520820829904733998
+                },
                 "Component_[7907396654938691310]": {
                     "$type": "EditorNonUniformScaleComponent",
                     "Id": 7907396654938691310
@@ -532,11 +534,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -726,11 +723,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -756,6 +748,10 @@
                             ]
                         }
                     }
+                },
+                "Component_[9618018463045340018]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 9618018463045340018
                 }
             }
         },
@@ -874,6 +870,10 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 12271054571961146875
                 },
+                "Component_[13031840212758108109]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 13031840212758108109
+                },
                 "Component_[16616440410168978878]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 16616440410168978878,
@@ -920,11 +920,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1048,6 +1043,10 @@
             "Id": "Entity_[153694991058934]",
             "Name": "wall",
             "Components": {
+                "Component_[10359271695734820027]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 10359271695734820027
+                },
                 "Component_[10953876651268642258]": {
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 10953876651268642258
@@ -1114,11 +1113,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1290,6 +1284,10 @@
                     "$type": "EditorLockComponent",
                     "Id": 5609115821002756754
                 },
+                "Component_[7082821617391885125]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 7082821617391885125
+                },
                 "Component_[7412142156647776837]": {
                     "$type": "EditorEntityIconComponent",
                     "Id": 7412142156647776837
@@ -1308,11 +1306,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1452,6 +1445,10 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 11836507567374440610
                 },
+                "Component_[11937788774893542980]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 11937788774893542980
+                },
                 "Component_[12271054571961146875]": {
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 12271054571961146875
@@ -1497,11 +1494,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1664,6 +1656,10 @@
                         ]
                     }
                 },
+                "Component_[4447541721157955238]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 4447541721157955238
+                },
                 "Component_[5609115821002756754]": {
                     "$type": "EditorLockComponent",
                     "Id": 5609115821002756754
@@ -1686,11 +1682,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -1972,11 +1963,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2163,11 +2149,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2359,11 +2340,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2550,11 +2526,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2674,6 +2645,10 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 12271054571961146875
                 },
+                "Component_[15849722242849975745]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 15849722242849975745
+                },
                 "Component_[16616440410168978878]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 16616440410168978878,
@@ -2720,11 +2695,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [
@@ -2868,6 +2838,10 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 12271054571961146875
                 },
+                "Component_[15865617544762587138]": {
+                    "$type": "EditorStaticRigidBodyComponent",
+                    "Id": 15865617544762587138
+                },
                 "Component_[16616440410168978878]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 16616440410168978878,
@@ -2914,11 +2888,6 @@
                                     "Name": "Entire object"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfigs": [

README.md

@@ -34,7 +34,6 @@ In addition, the project includes following initial feasibility tests:
 Level name `robotic_arm.prefab`
 
 Test level with improted robot using URDF importer. The scene is used to test developed API to PhysX joints.
-It is using this experimental branch from O3DE: https://github.com/michalpelka/o3de/tree/add_physx_joint_control
 
 ![Robotic arm simulation](Doc/robotic_arm.gif)
 
@@ -42,7 +41,6 @@ It is using this experimental branch from O3DE: https://github.com/michalpelka/o
 Level name `skid_steering_test.prefab`
 
 Test level with improted robot using URDF importer. The scene is used to test developed API to PhysX joints.
-It is using this experimental branch from O3DE: https://github.com/michalpelka/o3de/tree/add_physx_joint_control
 
 ![Robotic arm simulation](Doc/skid_steering.gif)
 
@@ -50,10 +48,15 @@ It is using this experimental branch from O3DE: https://github.com/michalpelka/o
 Level name `mecanum_test.prefab`
 
 Test level with improted robot using URDF importer. The scene is used to test developed API to PhysX joints.
-It is using this experimental branch from O3DE: https://github.com/michalpelka/o3de/tree/add_physx_joint_control
 
 ![Robotic arm simulation](Doc/mecanum.gif)
 
+# <a name="mecanum_test"></a>Gripper Test
+Level name `GripperTest.prefab`
+
+![Gripper Simulation simulation](Doc/gripper.gif)
+
+
 
 
 ## Initial feasibility tests