Vision‑language transformers paired with geometric primitives now output metric‑scale, simulation‑ready 3D assets. PhysX‑Omni demonstrates that a single autoregressive transformer can ingest image, text, and spatial priors and directly emit meshes, materials, and physics descriptors that import straight into simulation engines that support URDF/XML formats. Before this work, most generative 3D pipelines either ignored physical properties or were constrained to a single object class—rigid, deformable, or articulated—forcing developers to stitch together separate tools for geometry and physics. The authors explicitly point out this fragmentation as the motivation for a unified approach [1] .…