diff --git a/bddl/generated_data/output_hierarchy_properties.json b/bddl/generated_data/output_hierarchy_properties.json
index ff726762..d17cd386 100644
--- a/bddl/generated_data/output_hierarchy_properties.json
+++ b/bddl/generated_data/output_hierarchy_properties.json
@@ -40552,15 +40552,13 @@
                                         "belt"
                                       ],
                                       "abilities": {
-                                        "cloth": {},
-                                        "deformable": {},
                                         "disinfectable": {},
-                                        "drapeable": {},
                                         "dustyable": {},
                                         "freezable": {},
                                         "grassyable": {},
                                         "moldyable": {},
                                         "nonSubstance": {},
+                                        "rigidBody": {},
                                         "rustable": {},
                                         "scratchable": {},
                                         "stainable": {},
@@ -40572,15 +40570,13 @@
                                     }
                                   ],
                                   "abilities": {
-                                    "cloth": {},
-                                    "deformable": {},
                                     "disinfectable": {},
-                                    "drapeable": {},
                                     "dustyable": {},
                                     "freezable": {},
                                     "grassyable": {},
                                     "moldyable": {},
                                     "nonSubstance": {},
+                                    "rigidBody": {},
                                     "rustable": {},
                                     "scratchable": {},
                                     "stainable": {},
@@ -70126,7 +70122,13 @@
                                                 "dustyable": {},
                                                 "freezable": {},
                                                 "grassyable": {},
-                                                "heatSource": {},
+                                                "heatSource": {
+                                                  "requires_toggled_on": 1.0,
+                                                  "requires_closed": 0.0,
+                                                  "requires_inside": 1.0,
+                                                  "temperature": 93.0,
+                                                  "heating_rate": 0.01
+                                                },
                                                 "moldyable": {},
                                                 "nonSubstance": {},
                                                 "rigidBody": {},
@@ -79033,15 +79035,13 @@
                                     "belt"
                                   ],
                                   "abilities": {
-                                    "cloth": {},
-                                    "deformable": {},
                                     "disinfectable": {},
-                                    "drapeable": {},
                                     "dustyable": {},
                                     "freezable": {},
                                     "grassyable": {},
                                     "moldyable": {},
                                     "nonSubstance": {},
+                                    "rigidBody": {},
                                     "rustable": {},
                                     "scratchable": {},
                                     "stainable": {},
@@ -79053,15 +79053,13 @@
                                 }
                               ],
                               "abilities": {
-                                "cloth": {},
-                                "deformable": {},
                                 "disinfectable": {},
-                                "drapeable": {},
                                 "dustyable": {},
                                 "freezable": {},
                                 "grassyable": {},
                                 "moldyable": {},
                                 "nonSubstance": {},
+                                "rigidBody": {},
                                 "rustable": {},
                                 "scratchable": {},
                                 "stainable": {},
diff --git a/bddl/generated_data/prop_param_annots/heatSource.csv b/bddl/generated_data/prop_param_annots/heatSource.csv
index 80f86717..7091d0c8 100644
--- a/bddl/generated_data/prop_param_annots/heatSource.csv
+++ b/bddl/generated_data/prop_param_annots/heatSource.csv
@@ -16,3 +16,4 @@ sauna_heater.n.01,1,0,0,77,0.01
 space_heater.n.01,1,0,0,42,0.01
 electric_cauldron.n.01,1,0,1,200,0.01
 grill.n.02,1,0,0,260,0.01
+espresso_machine.n.01,1,0,1,93,0.01
diff --git a/bddl/generated_data/propagated_annots_canonical.json b/bddl/generated_data/propagated_annots_canonical.json
index 30ea2564..46a30bf4 100644
--- a/bddl/generated_data/propagated_annots_canonical.json
+++ b/bddl/generated_data/propagated_annots_canonical.json
@@ -37,15 +37,13 @@
     "freezable": {}
   },
   "accessory.n.01": {
-    "cloth": {},
-    "deformable": {},
     "disinfectable": {},
-    "drapeable": {},
     "dustyable": {},
     "freezable": {},
     "grassyable": {},
     "moldyable": {},
     "nonSubstance": {},
+    "rigidBody": {},
     "rustable": {},
     "scratchable": {},
     "stainable": {},
@@ -3394,15 +3392,13 @@
     "wrinkleable": {}
   },
   "belt.n.02": {
-    "cloth": {},
-    "deformable": {},
     "disinfectable": {},
-    "drapeable": {},
     "dustyable": {},
     "freezable": {},
     "grassyable": {},
     "moldyable": {},
     "nonSubstance": {},
+    "rigidBody": {},
     "rustable": {},
     "scratchable": {},
     "stainable": {},
diff --git a/bddl/generated_data/propagated_annots_params.json b/bddl/generated_data/propagated_annots_params.json
index 590fce1b..267b6abf 100644
--- a/bddl/generated_data/propagated_annots_params.json
+++ b/bddl/generated_data/propagated_annots_params.json
@@ -37,15 +37,13 @@
         "freezable": {}
     },
     "accessory.n.01": {
-        "cloth": {},
-        "deformable": {},
         "disinfectable": {},
-        "drapeable": {},
         "dustyable": {},
         "freezable": {},
         "grassyable": {},
         "moldyable": {},
         "nonSubstance": {},
+        "rigidBody": {},
         "rustable": {},
         "scratchable": {},
         "stainable": {},
@@ -8753,15 +8751,13 @@
         "wrinkleable": {}
     },
     "belt.n.02": {
-        "cloth": {},
-        "deformable": {},
         "disinfectable": {},
-        "drapeable": {},
         "dustyable": {},
         "freezable": {},
         "grassyable": {},
         "moldyable": {},
         "nonSubstance": {},
+        "rigidBody": {},
         "rustable": {},
         "scratchable": {},
         "stainable": {},
@@ -41548,7 +41544,13 @@
         "dustyable": {},
         "freezable": {},
         "grassyable": {},
-        "heatSource": {},
+        "heatSource": {
+            "requires_toggled_on": 1.0,
+            "requires_closed": 0.0,
+            "requires_inside": 1.0,
+            "temperature": 93.0,
+            "heating_rate": 0.01
+        },
         "moldyable": {},
         "nonSubstance": {},
         "rigidBody": {},
diff --git a/bddl/generated_data/properties_to_synsets.json b/bddl/generated_data/properties_to_synsets.json
index 87841819..0c42bc47 100644
--- a/bddl/generated_data/properties_to_synsets.json
+++ b/bddl/generated_data/properties_to_synsets.json
@@ -35769,7 +35769,6 @@
     ],
     "deformable": [
         "absorbent_material.n.01",
-        "accessory.n.01",
         "aluminum_foil.n.01",
         "apparel.n.01",
         "apron.n.01",
@@ -35789,7 +35788,6 @@
         "bed_linen.n.01",
         "bedclothes.n.01",
         "belt.n.01",
-        "belt.n.02",
         "bikini.n.02",
         "biscuit.n.01",
         "biscuit_dough.n.01",
@@ -36120,467 +36118,162 @@
         "tiramisu.n.01",
         "tofu.n.02"
     ],
-    "cloth": [
+    "rigidBody": [
         "accessory.n.01",
-        "aluminum_foil.n.01",
-        "apparel.n.01",
-        "apron.n.01",
-        "attire.n.01",
-        "bandanna.n.01",
-        "banner.n.01",
-        "basic_cognitive_process.n.01",
-        "bath_linen.n.01",
-        "bath_mat.n.01",
-        "bath_towel.n.01",
-        "bed_linen.n.01",
-        "bedclothes.n.01",
-        "belt.n.01",
+        "accessory.n.02",
+        "acetone__atomizer.n.01",
+        "acknowledgment.n.03",
+        "acorn.n.01",
+        "acoustic_device.n.01",
+        "acquisition.n.02",
+        "act.n.02",
+        "activity.n.01",
+        "adapter.n.02",
+        "address.n.05",
+        "adhesive_tape.n.01",
+        "aerosol.n.02",
+        "agave.n.01",
+        "agent.n.01",
+        "air_conditioner.n.01",
+        "air_filter.n.01",
+        "air_freshener__atomizer.n.01",
+        "aircraft.n.01",
+        "alarm.n.02",
+        "alarm_clock.n.01",
+        "alcove.n.01",
+        "allen_wrench.n.01",
+        "allspice__shaker.n.01",
+        "alphabet_abacus.n.01",
+        "aluminum.n.01",
+        "ammonia_water__atomizer.n.01",
+        "ammunition.n.01",
+        "anchor.n.01",
+        "animal.n.01",
+        "animal_material.n.01",
+        "animal_tissue.n.01",
+        "antenna.n.01",
+        "antipasto.n.01",
+        "antique.n.02",
+        "antiquity.n.03",
+        "antler.n.01",
+        "aperture.n.03",
+        "apparatus.n.01",
+        "appendage.n.03",
+        "apple.n.01",
+        "apple_juice__bottle.n.01",
+        "apple_pie.n.01",
+        "appliance.n.02",
+        "applicator.n.01",
+        "apricot.n.02",
+        "arbor.n.03",
+        "area.n.05",
+        "arepa.n.01",
+        "armchair.n.01",
+        "armor_plate.n.01",
+        "arrangement.n.02",
+        "arrangement.n.03",
+        "array.n.01",
+        "art.n.01",
+        "artichoke.n.02",
+        "article.n.02",
+        "artwork.n.01",
+        "arugula.n.02",
+        "ashcan.n.01",
+        "ashtray.n.01",
+        "asparagus.n.02",
+        "assets.n.01",
+        "athletic_facility.n.01",
+        "atomizer.n.01",
+        "audio_system.n.01",
+        "auricularia.n.01",
+        "autoclave.n.01",
+        "autograph.n.01",
+        "avocado.n.01",
+        "award.n.02",
+        "ax.n.01",
+        "axle.n.01",
+        "baby_bed.n.01",
+        "baby_buggy.n.01",
+        "baby_shoe.n.01",
+        "backdrop.n.01",
+        "backpack.n.01",
+        "bacon.n.01",
+        "bag.n.06",
+        "bag__of__auricularia.n.01",
+        "bag__of__breadcrumbs.n.01",
+        "bag__of__brown_rice.n.01",
+        "bag__of__chips.n.01",
+        "bag__of__cocoa.n.01",
+        "bag__of__cookies.n.01",
+        "bag__of__cream_cheese.n.01",
+        "bag__of__fertilizer.n.01",
+        "bag__of__flour.n.01",
+        "bag__of__ice_cream.n.01",
+        "bag__of__jerky.n.01",
+        "bag__of__mulch.n.01",
+        "bag__of__oranges.n.01",
+        "bag__of__popcorn.n.01",
+        "bag__of__rice.n.01",
+        "bag__of__rubbish.n.01",
+        "bag__of__shiitake.n.01",
+        "bag__of__snacks.n.01",
+        "bag__of__starch.n.01",
+        "bag__of__tea.n.01",
+        "bag__of__yeast.n.01",
+        "bagel.n.01",
+        "baggage.n.01",
+        "baguet.n.01",
+        "bait.n.01",
+        "baking_powder__jar.n.01",
+        "ball.n.01",
+        "balloon.n.01",
+        "balsamic_vinegar__bottle.n.01",
+        "bamboo.n.01",
+        "banana.n.02",
+        "banana_bread.n.01",
+        "bandage.n.01",
+        "bar.n.02",
+        "bar.n.03",
+        "bar.n.13",
+        "bar_soap.n.01",
+        "barbecue_sauce__bottle.n.01",
+        "bark.n.01",
+        "barrel.n.02",
+        "barrel.n.03",
+        "barrier.n.01",
+        "barrow.n.03",
+        "base.n.08",
+        "baseball.n.02",
+        "baseball_bat.n.01",
+        "baseball_cap.n.01",
+        "baseboard.n.01",
+        "basil.n.03",
+        "basil__jar.n.01",
+        "basin.n.01",
+        "basket.n.01",
+        "basket.n.03",
+        "basketball_equipment.n.01",
+        "bat.n.05",
+        "bathtub.n.01",
+        "battery.n.02",
+        "bay_leaf.n.01",
+        "beach_toy.n.01",
+        "beaker.n.02",
+        "bearing.n.06",
+        "beating-reed_instrument.n.01",
+        "bed.n.01",
+        "bedroom_furniture.n.01",
+        "beef_broth__carton.n.01",
+        "beefsteak_tomato.n.01",
+        "beer_barrel.n.01",
+        "beer_bottle.n.01",
+        "beer_glass.n.01",
+        "beer_tap.n.01",
+        "beeswax_candle.n.01",
+        "beet.n.02",
+        "bell.n.01",
+        "bell_pepper.n.02",
         "belt.n.02",
-        "bikini.n.02",
-        "blanket.n.01",
-        "blouse.n.01",
-        "brassiere.n.01",
-        "burlap.n.01",
-        "canvas.n.01",
-        "cardigan.n.01",
-        "case.n.19",
-        "cheesecloth.n.01",
-        "cloak.n.02",
-        "closed_curve.n.01",
-        "coat.n.01",
-        "cobweb.n.01",
-        "collar.n.01",
-        "costume.n.01",
-        "crewneck_sweater.n.01",
-        "curtain.n.01",
-        "curve.n.01",
-        "diaper.n.01",
-        "dinner_napkin.n.01",
-        "dishtowel.n.01",
-        "doily.n.01",
-        "drawers.n.01",
-        "dress.n.01",
-        "dress_shirt.n.01",
-        "emblem.n.01",
-        "emblem.n.02",
-        "face_mask.n.01",
-        "felt.n.01",
-        "flag.n.01",
-        "flag.n.04",
-        "floor_cover.n.01",
-        "foil.n.01",
-        "footwear.n.01",
-        "fur_coat.n.01",
-        "gauze.n.02",
-        "girdle.n.02",
-        "gown.n.05",
-        "half__tortilla.n.01",
-        "half__wrapping_paper.n.01",
-        "hammock.n.03",
-        "hand_towel.n.01",
-        "handkerchief.n.01",
-        "hosiery.n.01",
-        "jacket.n.01",
-        "jean.n.01",
-        "jersey.n.03",
-        "jump_suit.n.01",
-        "kid_glove.n.01",
-        "knit.n.01",
-        "legging.n.01",
-        "leotard.n.01",
-        "line.n.04",
-        "liner.n.03",
-        "lingerie.n.01",
-        "lining.n.01",
-        "long_trousers.n.01",
-        "loop.n.02",
-        "maillot.n.01",
-        "mask.n.04",
-        "mat.n.01",
-        "mattress_cover.n.01",
-        "napkin.n.01",
-        "national_flag.n.01",
-        "net.n.05",
-        "nightwear.n.01",
-        "outerwear.n.01",
-        "overall.n.01",
-        "overgarment.n.01",
-        "pajama.n.02",
-        "paper_towel.n.01",
-        "pennant.n.02",
-        "piece.n.01",
-        "piece_of_cloth.n.01",
-        "plastic_bag.n.01",
-        "plastic_wrap.n.01",
-        "polo_shirt.n.01",
-        "process.n.02",
-        "protective_garment.n.01",
-        "pullover.n.01",
-        "quilt.n.01",
-        "rag.n.01",
-        "raincoat.n.01",
-        "raw_egg.n.01",
-        "representational_process.n.01",
-        "ribbon.n.01",
-        "rubber_glove.n.01",
-        "rug.n.01",
-        "sacking.n.01",
-        "sanitary_napkin.n.01",
-        "scarf.n.01",
-        "shawl.n.01",
-        "sheet.n.03",
-        "sheet_metal.n.01",
-        "shirt.n.01",
-        "short_pants.n.01",
-        "simple_closed_curve.n.01",
-        "skirt.n.01",
-        "slacks.n.01",
-        "sleeping_bag.n.01",
-        "sock.n.01",
-        "stocking.n.01",
-        "suit.n.01",
-        "sweat_suit.n.01",
-        "sweater.n.01",
-        "sweatshirt.n.01",
-        "swimsuit.n.01",
-        "symbol.n.02",
-        "tablecloth.n.01",
-        "tank_top.n.01",
-        "tarpaulin.n.01",
-        "tie.n.09",
-        "tights.n.01",
-        "top.n.10",
-        "towel.n.01",
-        "trouser.n.01",
-        "undergarment.n.01",
-        "underpants.n.01",
-        "underwear.n.01",
-        "velcro.n.01",
-        "velvet.n.01",
-        "vest.n.01",
-        "volleyball_net.n.01",
-        "woman's_clothing.n.01",
-        "wool.n.01",
-        "wool_coat.n.01",
-        "work-clothing.n.01",
-        "workwear.n.01",
-        "wrapping.n.01",
-        "wrapping_paper.n.01",
-        "yoga_mat.n.01"
-    ],
-    "drapeable": [
-        "accessory.n.01",
-        "aluminum_foil.n.01",
-        "apparel.n.01",
-        "apron.n.01",
-        "attire.n.01",
-        "bandanna.n.01",
-        "banner.n.01",
-        "basic_cognitive_process.n.01",
-        "bath_linen.n.01",
-        "bath_mat.n.01",
-        "bath_towel.n.01",
-        "bed_linen.n.01",
-        "bedclothes.n.01",
-        "belt.n.01",
-        "belt.n.02",
-        "bikini.n.02",
-        "blanket.n.01",
-        "blouse.n.01",
-        "brassiere.n.01",
-        "burlap.n.01",
-        "cable.n.02",
-        "canvas.n.01",
-        "cardigan.n.01",
-        "case.n.19",
-        "cheesecloth.n.01",
-        "cloak.n.02",
-        "closed_curve.n.01",
-        "coat.n.01",
-        "cobweb.n.01",
-        "collar.n.01",
-        "costume.n.01",
-        "cotton.n.04",
-        "crewneck_sweater.n.01",
-        "curtain.n.01",
-        "curve.n.01",
-        "diaper.n.01",
-        "dinner_napkin.n.01",
-        "dishtowel.n.01",
-        "doily.n.01",
-        "drawers.n.01",
-        "dress.n.01",
-        "dress_shirt.n.01",
-        "elastic_device.n.01",
-        "emblem.n.01",
-        "emblem.n.02",
-        "face_mask.n.01",
-        "felt.n.01",
-        "flag.n.01",
-        "flag.n.04",
-        "floor_cover.n.01",
-        "foil.n.01",
-        "footwear.n.01",
-        "fur_coat.n.01",
-        "gauze.n.02",
-        "girdle.n.02",
-        "gown.n.05",
-        "half__rope.n.01",
-        "half__tortilla.n.01",
-        "half__wrapping_paper.n.01",
-        "hammock.n.03",
-        "hand_towel.n.01",
-        "handkerchief.n.01",
-        "hose.n.03",
-        "hosiery.n.01",
-        "jacket.n.01",
-        "jean.n.01",
-        "jersey.n.03",
-        "jump_suit.n.01",
-        "kid_glove.n.01",
-        "knit.n.01",
-        "legging.n.01",
-        "leotard.n.01",
-        "line.n.04",
-        "liner.n.03",
-        "lingerie.n.01",
-        "lining.n.01",
-        "long_trousers.n.01",
-        "loop.n.02",
-        "maillot.n.01",
-        "mask.n.04",
-        "mat.n.01",
-        "mattress_cover.n.01",
-        "napkin.n.01",
-        "national_flag.n.01",
-        "net.n.05",
-        "nightwear.n.01",
-        "outerwear.n.01",
-        "overall.n.01",
-        "overgarment.n.01",
-        "pajama.n.02",
-        "paper_towel.n.01",
-        "pennant.n.02",
-        "piece.n.01",
-        "piece_of_cloth.n.01",
-        "plastic_bag.n.01",
-        "plastic_wrap.n.01",
-        "polo_shirt.n.01",
-        "process.n.02",
-        "protective_garment.n.01",
-        "pullover.n.01",
-        "quilt.n.01",
-        "rag.n.01",
-        "raincoat.n.01",
-        "raw_egg.n.01",
-        "representational_process.n.01",
-        "ribbon.n.01",
-        "rope.n.01",
-        "rubber_band.n.01",
-        "rubber_glove.n.01",
-        "rug.n.01",
-        "sacking.n.01",
-        "sanitary_napkin.n.01",
-        "scarf.n.01",
-        "shawl.n.01",
-        "sheet.n.03",
-        "sheet_metal.n.01",
-        "shirt.n.01",
-        "short_pants.n.01",
-        "simple_closed_curve.n.01",
-        "skirt.n.01",
-        "slacks.n.01",
-        "sleeping_bag.n.01",
-        "sock.n.01",
-        "stocking.n.01",
-        "string.n.01",
-        "suit.n.01",
-        "sweat_suit.n.01",
-        "sweater.n.01",
-        "sweatshirt.n.01",
-        "swimsuit.n.01",
-        "symbol.n.02",
-        "tablecloth.n.01",
-        "tank_top.n.01",
-        "tarpaulin.n.01",
-        "tie.n.09",
-        "tights.n.01",
-        "tinsel.n.02",
-        "top.n.10",
-        "towel.n.01",
-        "trouser.n.01",
-        "undergarment.n.01",
-        "underpants.n.01",
-        "underwear.n.01",
-        "velcro.n.01",
-        "velvet.n.01",
-        "vest.n.01",
-        "volleyball_net.n.01",
-        "wick.n.02",
-        "wire.n.01",
-        "woman's_clothing.n.01",
-        "wool.n.01",
-        "wool_coat.n.01",
-        "work-clothing.n.01",
-        "workwear.n.01",
-        "wrapping.n.01",
-        "wrapping_paper.n.01",
-        "yoga_mat.n.01"
-    ],
-    "rigidBody": [
-        "accessory.n.02",
-        "acetone__atomizer.n.01",
-        "acknowledgment.n.03",
-        "acorn.n.01",
-        "acoustic_device.n.01",
-        "acquisition.n.02",
-        "act.n.02",
-        "activity.n.01",
-        "adapter.n.02",
-        "address.n.05",
-        "adhesive_tape.n.01",
-        "aerosol.n.02",
-        "agave.n.01",
-        "agent.n.01",
-        "air_conditioner.n.01",
-        "air_filter.n.01",
-        "air_freshener__atomizer.n.01",
-        "aircraft.n.01",
-        "alarm.n.02",
-        "alarm_clock.n.01",
-        "alcove.n.01",
-        "allen_wrench.n.01",
-        "allspice__shaker.n.01",
-        "alphabet_abacus.n.01",
-        "aluminum.n.01",
-        "ammonia_water__atomizer.n.01",
-        "ammunition.n.01",
-        "anchor.n.01",
-        "animal.n.01",
-        "animal_material.n.01",
-        "animal_tissue.n.01",
-        "antenna.n.01",
-        "antipasto.n.01",
-        "antique.n.02",
-        "antiquity.n.03",
-        "antler.n.01",
-        "aperture.n.03",
-        "apparatus.n.01",
-        "appendage.n.03",
-        "apple.n.01",
-        "apple_juice__bottle.n.01",
-        "apple_pie.n.01",
-        "appliance.n.02",
-        "applicator.n.01",
-        "apricot.n.02",
-        "arbor.n.03",
-        "area.n.05",
-        "arepa.n.01",
-        "armchair.n.01",
-        "armor_plate.n.01",
-        "arrangement.n.02",
-        "arrangement.n.03",
-        "array.n.01",
-        "art.n.01",
-        "artichoke.n.02",
-        "article.n.02",
-        "artwork.n.01",
-        "arugula.n.02",
-        "ashcan.n.01",
-        "ashtray.n.01",
-        "asparagus.n.02",
-        "assets.n.01",
-        "athletic_facility.n.01",
-        "atomizer.n.01",
-        "audio_system.n.01",
-        "auricularia.n.01",
-        "autoclave.n.01",
-        "autograph.n.01",
-        "avocado.n.01",
-        "award.n.02",
-        "ax.n.01",
-        "axle.n.01",
-        "baby_bed.n.01",
-        "baby_buggy.n.01",
-        "baby_shoe.n.01",
-        "backdrop.n.01",
-        "backpack.n.01",
-        "bacon.n.01",
-        "bag.n.06",
-        "bag__of__auricularia.n.01",
-        "bag__of__breadcrumbs.n.01",
-        "bag__of__brown_rice.n.01",
-        "bag__of__chips.n.01",
-        "bag__of__cocoa.n.01",
-        "bag__of__cookies.n.01",
-        "bag__of__cream_cheese.n.01",
-        "bag__of__fertilizer.n.01",
-        "bag__of__flour.n.01",
-        "bag__of__ice_cream.n.01",
-        "bag__of__jerky.n.01",
-        "bag__of__mulch.n.01",
-        "bag__of__oranges.n.01",
-        "bag__of__popcorn.n.01",
-        "bag__of__rice.n.01",
-        "bag__of__rubbish.n.01",
-        "bag__of__shiitake.n.01",
-        "bag__of__snacks.n.01",
-        "bag__of__starch.n.01",
-        "bag__of__tea.n.01",
-        "bag__of__yeast.n.01",
-        "bagel.n.01",
-        "baggage.n.01",
-        "baguet.n.01",
-        "bait.n.01",
-        "baking_powder__jar.n.01",
-        "ball.n.01",
-        "balloon.n.01",
-        "balsamic_vinegar__bottle.n.01",
-        "bamboo.n.01",
-        "banana.n.02",
-        "banana_bread.n.01",
-        "bandage.n.01",
-        "bar.n.02",
-        "bar.n.03",
-        "bar.n.13",
-        "bar_soap.n.01",
-        "barbecue_sauce__bottle.n.01",
-        "bark.n.01",
-        "barrel.n.02",
-        "barrel.n.03",
-        "barrier.n.01",
-        "barrow.n.03",
-        "base.n.08",
-        "baseball.n.02",
-        "baseball_bat.n.01",
-        "baseball_cap.n.01",
-        "baseboard.n.01",
-        "basil.n.03",
-        "basil__jar.n.01",
-        "basin.n.01",
-        "basket.n.01",
-        "basket.n.03",
-        "basketball_equipment.n.01",
-        "bat.n.05",
-        "bathtub.n.01",
-        "battery.n.02",
-        "bay_leaf.n.01",
-        "beach_toy.n.01",
-        "beaker.n.02",
-        "bearing.n.06",
-        "beating-reed_instrument.n.01",
-        "bed.n.01",
-        "bedroom_furniture.n.01",
-        "beef_broth__carton.n.01",
-        "beefsteak_tomato.n.01",
-        "beer_barrel.n.01",
-        "beer_bottle.n.01",
-        "beer_glass.n.01",
-        "beer_tap.n.01",
-        "beeswax_candle.n.01",
-        "beet.n.02",
-        "bell.n.01",
-        "bell_pepper.n.02",
         "bench.n.01",
         "bench_press.n.01",
         "bicycle.n.01",
@@ -44820,6 +44513,309 @@
         "vitamin_pill.n.01",
         "wood_chip.n.01"
     ],
+    "cloth": [
+        "aluminum_foil.n.01",
+        "apparel.n.01",
+        "apron.n.01",
+        "attire.n.01",
+        "bandanna.n.01",
+        "banner.n.01",
+        "basic_cognitive_process.n.01",
+        "bath_linen.n.01",
+        "bath_mat.n.01",
+        "bath_towel.n.01",
+        "bed_linen.n.01",
+        "bedclothes.n.01",
+        "belt.n.01",
+        "bikini.n.02",
+        "blanket.n.01",
+        "blouse.n.01",
+        "brassiere.n.01",
+        "burlap.n.01",
+        "canvas.n.01",
+        "cardigan.n.01",
+        "case.n.19",
+        "cheesecloth.n.01",
+        "cloak.n.02",
+        "closed_curve.n.01",
+        "coat.n.01",
+        "cobweb.n.01",
+        "collar.n.01",
+        "costume.n.01",
+        "crewneck_sweater.n.01",
+        "curtain.n.01",
+        "curve.n.01",
+        "diaper.n.01",
+        "dinner_napkin.n.01",
+        "dishtowel.n.01",
+        "doily.n.01",
+        "drawers.n.01",
+        "dress.n.01",
+        "dress_shirt.n.01",
+        "emblem.n.01",
+        "emblem.n.02",
+        "face_mask.n.01",
+        "felt.n.01",
+        "flag.n.01",
+        "flag.n.04",
+        "floor_cover.n.01",
+        "foil.n.01",
+        "footwear.n.01",
+        "fur_coat.n.01",
+        "gauze.n.02",
+        "girdle.n.02",
+        "gown.n.05",
+        "half__tortilla.n.01",
+        "half__wrapping_paper.n.01",
+        "hammock.n.03",
+        "hand_towel.n.01",
+        "handkerchief.n.01",
+        "hosiery.n.01",
+        "jacket.n.01",
+        "jean.n.01",
+        "jersey.n.03",
+        "jump_suit.n.01",
+        "kid_glove.n.01",
+        "knit.n.01",
+        "legging.n.01",
+        "leotard.n.01",
+        "line.n.04",
+        "liner.n.03",
+        "lingerie.n.01",
+        "lining.n.01",
+        "long_trousers.n.01",
+        "loop.n.02",
+        "maillot.n.01",
+        "mask.n.04",
+        "mat.n.01",
+        "mattress_cover.n.01",
+        "napkin.n.01",
+        "national_flag.n.01",
+        "net.n.05",
+        "nightwear.n.01",
+        "outerwear.n.01",
+        "overall.n.01",
+        "overgarment.n.01",
+        "pajama.n.02",
+        "paper_towel.n.01",
+        "pennant.n.02",
+        "piece.n.01",
+        "piece_of_cloth.n.01",
+        "plastic_bag.n.01",
+        "plastic_wrap.n.01",
+        "polo_shirt.n.01",
+        "process.n.02",
+        "protective_garment.n.01",
+        "pullover.n.01",
+        "quilt.n.01",
+        "rag.n.01",
+        "raincoat.n.01",
+        "raw_egg.n.01",
+        "representational_process.n.01",
+        "ribbon.n.01",
+        "rubber_glove.n.01",
+        "rug.n.01",
+        "sacking.n.01",
+        "sanitary_napkin.n.01",
+        "scarf.n.01",
+        "shawl.n.01",
+        "sheet.n.03",
+        "sheet_metal.n.01",
+        "shirt.n.01",
+        "short_pants.n.01",
+        "simple_closed_curve.n.01",
+        "skirt.n.01",
+        "slacks.n.01",
+        "sleeping_bag.n.01",
+        "sock.n.01",
+        "stocking.n.01",
+        "suit.n.01",
+        "sweat_suit.n.01",
+        "sweater.n.01",
+        "sweatshirt.n.01",
+        "swimsuit.n.01",
+        "symbol.n.02",
+        "tablecloth.n.01",
+        "tank_top.n.01",
+        "tarpaulin.n.01",
+        "tie.n.09",
+        "tights.n.01",
+        "top.n.10",
+        "towel.n.01",
+        "trouser.n.01",
+        "undergarment.n.01",
+        "underpants.n.01",
+        "underwear.n.01",
+        "velcro.n.01",
+        "velvet.n.01",
+        "vest.n.01",
+        "volleyball_net.n.01",
+        "woman's_clothing.n.01",
+        "wool.n.01",
+        "wool_coat.n.01",
+        "work-clothing.n.01",
+        "workwear.n.01",
+        "wrapping.n.01",
+        "wrapping_paper.n.01",
+        "yoga_mat.n.01"
+    ],
+    "drapeable": [
+        "aluminum_foil.n.01",
+        "apparel.n.01",
+        "apron.n.01",
+        "attire.n.01",
+        "bandanna.n.01",
+        "banner.n.01",
+        "basic_cognitive_process.n.01",
+        "bath_linen.n.01",
+        "bath_mat.n.01",
+        "bath_towel.n.01",
+        "bed_linen.n.01",
+        "bedclothes.n.01",
+        "belt.n.01",
+        "bikini.n.02",
+        "blanket.n.01",
+        "blouse.n.01",
+        "brassiere.n.01",
+        "burlap.n.01",
+        "cable.n.02",
+        "canvas.n.01",
+        "cardigan.n.01",
+        "case.n.19",
+        "cheesecloth.n.01",
+        "cloak.n.02",
+        "closed_curve.n.01",
+        "coat.n.01",
+        "cobweb.n.01",
+        "collar.n.01",
+        "costume.n.01",
+        "cotton.n.04",
+        "crewneck_sweater.n.01",
+        "curtain.n.01",
+        "curve.n.01",
+        "diaper.n.01",
+        "dinner_napkin.n.01",
+        "dishtowel.n.01",
+        "doily.n.01",
+        "drawers.n.01",
+        "dress.n.01",
+        "dress_shirt.n.01",
+        "elastic_device.n.01",
+        "emblem.n.01",
+        "emblem.n.02",
+        "face_mask.n.01",
+        "felt.n.01",
+        "flag.n.01",
+        "flag.n.04",
+        "floor_cover.n.01",
+        "foil.n.01",
+        "footwear.n.01",
+        "fur_coat.n.01",
+        "gauze.n.02",
+        "girdle.n.02",
+        "gown.n.05",
+        "half__rope.n.01",
+        "half__tortilla.n.01",
+        "half__wrapping_paper.n.01",
+        "hammock.n.03",
+        "hand_towel.n.01",
+        "handkerchief.n.01",
+        "hose.n.03",
+        "hosiery.n.01",
+        "jacket.n.01",
+        "jean.n.01",
+        "jersey.n.03",
+        "jump_suit.n.01",
+        "kid_glove.n.01",
+        "knit.n.01",
+        "legging.n.01",
+        "leotard.n.01",
+        "line.n.04",
+        "liner.n.03",
+        "lingerie.n.01",
+        "lining.n.01",
+        "long_trousers.n.01",
+        "loop.n.02",
+        "maillot.n.01",
+        "mask.n.04",
+        "mat.n.01",
+        "mattress_cover.n.01",
+        "napkin.n.01",
+        "national_flag.n.01",
+        "net.n.05",
+        "nightwear.n.01",
+        "outerwear.n.01",
+        "overall.n.01",
+        "overgarment.n.01",
+        "pajama.n.02",
+        "paper_towel.n.01",
+        "pennant.n.02",
+        "piece.n.01",
+        "piece_of_cloth.n.01",
+        "plastic_bag.n.01",
+        "plastic_wrap.n.01",
+        "polo_shirt.n.01",
+        "process.n.02",
+        "protective_garment.n.01",
+        "pullover.n.01",
+        "quilt.n.01",
+        "rag.n.01",
+        "raincoat.n.01",
+        "raw_egg.n.01",
+        "representational_process.n.01",
+        "ribbon.n.01",
+        "rope.n.01",
+        "rubber_band.n.01",
+        "rubber_glove.n.01",
+        "rug.n.01",
+        "sacking.n.01",
+        "sanitary_napkin.n.01",
+        "scarf.n.01",
+        "shawl.n.01",
+        "sheet.n.03",
+        "sheet_metal.n.01",
+        "shirt.n.01",
+        "short_pants.n.01",
+        "simple_closed_curve.n.01",
+        "skirt.n.01",
+        "slacks.n.01",
+        "sleeping_bag.n.01",
+        "sock.n.01",
+        "stocking.n.01",
+        "string.n.01",
+        "suit.n.01",
+        "sweat_suit.n.01",
+        "sweater.n.01",
+        "sweatshirt.n.01",
+        "swimsuit.n.01",
+        "symbol.n.02",
+        "tablecloth.n.01",
+        "tank_top.n.01",
+        "tarpaulin.n.01",
+        "tie.n.09",
+        "tights.n.01",
+        "tinsel.n.02",
+        "top.n.10",
+        "towel.n.01",
+        "trouser.n.01",
+        "undergarment.n.01",
+        "underpants.n.01",
+        "underwear.n.01",
+        "velcro.n.01",
+        "velvet.n.01",
+        "vest.n.01",
+        "volleyball_net.n.01",
+        "wick.n.02",
+        "wire.n.01",
+        "woman's_clothing.n.01",
+        "wool.n.01",
+        "wool_coat.n.01",
+        "work-clothing.n.01",
+        "workwear.n.01",
+        "wrapping.n.01",
+        "wrapping_paper.n.01",
+        "yoga_mat.n.01"
+    ],
     "heatable": [
         "animal_tissue.n.01",
         "antipasto.n.01",
diff --git a/bddl/generated_data/syn_prop_annots_canonical.json b/bddl/generated_data/syn_prop_annots_canonical.json
index b2ad12c0..6afd7726 100644
--- a/bddl/generated_data/syn_prop_annots_canonical.json
+++ b/bddl/generated_data/syn_prop_annots_canonical.json
@@ -2187,10 +2187,8 @@
         "freezable": {}
     },
     "belt.n.02": {
-        "cloth": {},
+        "rigidBody": {},
         "nonSubstance": {},
-        "deformable": {},
-        "drapeable": {},
         "wetable": {},
         "stickyable": {},
         "dustyable": {},
diff --git a/bddl/generated_data/synsets.csv b/bddl/generated_data/synsets.csv
index 5ceb0311..f6895d15 100644
--- a/bddl/generated_data/synsets.csv
+++ b/bddl/generated_data/synsets.csv
@@ -139,7 +139,7 @@ beet.n.02,root_vegetable.n.01,0,0,0,0,0,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,rigidB
 bell_pepper.n.02,sweet_pepper.n.02,0,0,0,0,0,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,rigidBody
 bell.n.01,"acoustic_device.n.01,signaling_device.n.01",0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,rigidBody
 belt.n.01,loop.n.02,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,cloth
-belt.n.02,accessory.n.01,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,cloth
+belt.n.02,accessory.n.01,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,rigidBody
 bench_press.n.01,weightlift.n.01,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,rigidBody
 bench.n.01,seat.n.03,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,rigidBody
 bicycle_chain.n.01,chain.n.03,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,rigidBody