Khronos Blog opencollada-rigid_body_xml

     <rigid_body sid="pSphere1RigidBody1" name="pSphere1RigidBody1">
        <technique_common>
          <dynamic>1</dynamic>
          <mass>100000</mass>
          <mass_frame>
            <translate sid="translate">-0.001008951 0 -1.2207e-4</translate>
          </mass_frame>
          <inertia>1.44001e6 1.44001e6 1.44001e6</inertia>
          <physics_material id="pSphere1RigidBody1_material">
            <technique_common>
              <dynamic_friction>0.2</dynamic_friction>
              <restitution>0.6</restitution>
              <static_friction>0.2</static_friction>
            </technique_common>
          </physics_material>
          <shape>
            <density>1000</density>
            <sphere>
              <radius>6.00001</radius>
            </sphere>
            <translate sid="translate">-1.00895e-5 0 -1.2207e-6</translate>
            <extra>
              <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
                <px:px_shape>
                  <px:local_pose>0 0 0 1 -6.10352e-7 0 -1.2207e-6 </px:local_pose>
                  <px:simulation_filter_data>131074 1 0 0</px:simulation_filter_data>
                  <px:contact_offset>0.00130936</px:contact_offset>
                  <px:name>|pSphere1|pSphere1RigidBody1|pSphere1RigidBodyShape1Transform|pSphere1RigidBodyShape1</px:name>
                </px:px_shape>
              </technique>
            </extra>
          </shape>
        </technique_common>
        <extra>
          <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
            <px:px_rigid_body>
              <px:global_pose>0 0 0 1 78.9966 20 0 </px:global_pose>
              <px:max_depenetration_velocity>1e32</px:max_depenetration_velocity>
              <px:sleep_threshold>5e-7</px:sleep_threshold>
              <px:stabilization_threshold>0.0024059</px:stabilization_threshold>
              <px:min_position_iters>8</px:min_position_iters>
              <px:min_velocity_iters>4</px:min_velocity_iters>
              <px:contact_report_threshold>3.40282e38</px:contact_report_threshold>
            </px:px_rigid_body>
          </technique>
        </extra>
      </rigid_body>