import omni.usd
from pxr import UsdShade, UsdPhysics
stage = omni.usd.get_context().get_stage()
prim = stage.GetPrimAtPath("/World/Diverters/DiverterY_Split/Pusher/Geom")
api = UsdShade.MaterialBindingAPI(prim)
mat, rel = api.ComputeBoundMaterial(materialPurpose="physics")
print("physics material bound:", mat.GetPath() if mat else None)
if mat:
    m = UsdPhysics.MaterialAPI(mat.GetPrim())
    print("  static friction:", m.GetStaticFrictionAttr().Get())
    print("  dynamic friction:", m.GetDynamicFrictionAttr().Get())
    print("  restitution:", m.GetRestitutionAttr().Get())