@tushar-br/editing-pack 1.0.195 → 1.0.197

package/staging_area/Blender/blender.shared/usd/usdPhysics/resources/usdPhysics/schema.usda

@@ -1,879 +0,0 @@
-#usda 1.0
-(
-	subLayers = [
-        @usdGeom/schema.usda@
-	]
-)
-
-over "GLOBAL" (
-	customData = {
-	string libraryName = "usdPhysics"
-	string libraryPath = "pxr/usd/usdPhysics"
-    bool useLiteralIdentifier = 0
-    dictionary libraryTokens = {
-        dictionary colliders = {
-            string doc = """
-            This token represents the collection name to use
-            with UsdCollectionAPI to represent colliders
-            of a CollisionGroup prim.
-            """
-            }
-        dictionary kilogramsPerUnit = {
-            string doc = """Stage-level metadata that encodes a scene's
-            linear unit of measure as kilograms per encoded unit."""
-            }
-        dictionary transX = {
-            string doc = """
-            This token represents the translate around X axis degree of freedom
-            used in Joint Limits and Drives.
-            """
-            }
-        dictionary transY = {
-            string doc = """
-            This token represents the translate around Y axis degree of freedom
-            used in Joint Limits and Drives.
-            """
-            }
-        dictionary transZ = {
-            string doc = """
-            This token represents the translate around Z axis degree of freedom
-            used in Joint Limits and Drives.
-            """
-            }
-        dictionary rotX = {
-            string doc = """
-            This token represents the rotate around X axis degree of freedom
-            used in Joint Limits and Drives.
-            """
-            }
-        dictionary rotY = {
-            string doc = """
-            This token represents the rotate around Y axis degree of freedom
-            used in Joint Limits and Drives.
-            """
-            }
-        dictionary rotZ = {
-            string doc = """
-            This token represents the rotate around Z axis degree of freedom
-            used in Joint Limits and Drives.
-            """
-            }
-        dictionary linear = {
-            string doc = """
-            This token represents the linear degree of freedom
-            used in Prismatic Joint Drive.
-            """
-            }
-        dictionary angular = {
-            string doc = """
-            This token represents the angular degree of freedom
-            used in Revolute Joint Drive.
-            """
-            }
-        dictionary distance = {
-            string doc = """
-            This token represents the distance limit used for generic D6 joint.
-            """
-            }
-
-        }
-	}
-)
-{
-
-}
-
-class PhysicsScene "PhysicsScene"
-(
-    customData = {
-        string className = "Scene"
-    }
-    doc = """General physics simulation properties, required for simulation."""
-
-    inherits = </Typed>
-)
-{
-    vector3f physics:gravityDirection = (0.0, 0.0, 0.0) (
-        customData = {
-            string apiName = "gravityDirection"
-        }
-        displayName = "Gravity Direction"
-        doc = """Gravity direction vector in simulation world space. Will be
-        normalized before use. A zero vector is a request to use the negative 
-        upAxis. Unitless."""
-    )
-
-    float physics:gravityMagnitude = -inf (
-        customData = {
-            string apiName = "gravityMagnitude"
-        }
-        displayName = "Gravity Magnitude"
-        doc = """Gravity acceleration magnitude in simulation world space. 
-        A negative value is a request to use a value equivalent to earth 
-        gravity regardless of the metersPerUnit scaling used by this scene. 
-        Units: distance/second/second."""
-    )
-}
-
-class "PhysicsRigidBodyAPI"
-(
-    customData = {
-        string className = "RigidBodyAPI"
-        string extraIncludes = """
-#include "pxr/base/gf/matrix3f.h"
-#include "pxr/base/gf/quatf.h" """
-    }
-    doc = """Applies physics body attributes to any UsdGeomXformable prim and
-    marks that prim to be driven by a simulation. If a simulation is running
-    it will update this prim's pose. All prims in the hierarchy below this 
-    prim should move accordingly."""
-
-    inherits = </APISchemaBase>
-    
-)
-
-{
-
-    bool physics:rigidBodyEnabled = true (
-        customData = {
-            string apiName = "rigidBodyEnabled"
-        }
-        displayName = "Rigid Body Enabled"
-        doc = """Determines if this PhysicsRigidBodyAPI is enabled."""
-    )
-
-  	bool physics:kinematicEnabled = false (
-        customData = {
-            string apiName = "kinematicEnabled"
-        }
-        displayName = "Kinematic Enabled"
-        doc = """Determines whether the body is kinematic or not. A kinematic 
-        body is a body that is moved through animated poses or through 
-        user defined poses. The simulation derives velocities for the
-        kinematic body based on the external motion. When a continuous motion
-        is not desired, this kinematic flag should be set to false."""
-    )
-
-    rel physics:simulationOwner (
-        customData = {
-            string apiName = "simulationOwner"
-        }
-        displayName = "Simulation Owner"
-        doc = """Single PhysicsScene that will simulate this body. By 
-        default this is the first PhysicsScene found in the stage using 
-        UsdStage::Traverse()."""
-
-    )
-
-	uniform bool physics:startsAsleep = false (
-        customData = {
-            string apiName = "startsAsleep"
-        }
-        displayName = "Starts as Asleep"
-        doc = "Determines if the body is asleep when the simulation starts."
-    )
-    
-    vector3f physics:velocity= (0.0, 0.0, 0.0) (
-        customData = {
-            string apiName = "velocity"
-        }
-        displayName = "Linear Velocity"
-        doc = """Linear velocity in the same space as the node's xform. 
-        Units: distance/second."""
-    )
-
-    vector3f physics:angularVelocity = (0.0, 0.0, 0.0) (
-        customData = {
-            string apiName = "angularVelocity"
-        }
-        displayName = "Angular Velocity"
-        doc = """Angular velocity in the same space as the node's xform. 
-        Units: degrees/second."""
-    )    
-}
-
-class "PhysicsMassAPI"
-(
-    customData = {
-        string className = "MassAPI"
-    }
-
-    doc = """Defines explicit mass properties (mass, density, inertia etc.).        
-    MassAPI can be applied to any object that has a PhysicsCollisionAPI or
-    a PhysicsRigidBodyAPI."""
-
-    inherits = </APISchemaBase>
-)
-{
-	float physics:mass = 0.0 (
-        customData = {
-            string apiName = "mass"
-        }
-        displayName = "Mass"
-        doc = """If non-zero, directly specifies the mass of the object.
-        Note that any child prim can also have a mass when they apply massAPI.
-        In this case, the precedence rule is 'parent mass overrides the
-        child's'. This may come as counter-intuitive, but mass is a computed 
-        quantity and in general not accumulative. For example, if a parent 
-        has mass of 10, and one of two children has mass of 20, allowing 
-        child's mass to override its parent results in a mass of -10 for the 
-        other child. Note if mass is 0.0 it is ignored. Units: mass.
-        """
-    )
-
-	float physics:density = 0.0 (
-        customData = {
-            string apiName = "density"
-        }
-        displayName = "Density"
-        doc = """If non-zero, specifies the density of the object.
-        In the context of rigid body physics, density indirectly results in 
-        setting mass via (mass = density x volume of the object). How the 
-        volume is computed is up to implementation of the physics system.
-        It is generally computed from the collision approximation rather than
-        the graphical mesh. In the case where both density and mass are 
-        specified for the same object, mass has precedence over density. 
-        Unlike mass, child's prim's density overrides parent prim's density 
-        as it is accumulative. Note that density of a collisionAPI can be also
-        alternatively set through a PhysicsMaterialAPI. The material density
-        has the weakest precedence in density definition. Note if density is
-        0.0 it is ignored. Units: mass/distance/distance/distance."""
-    )
-
-	point3f physics:centerOfMass = (-inf, -inf, -inf) (
-        customData = {
-            string apiName = "centerOfMass"
-        }
-        displayName = "Center of Mass"
-        doc = """Center of mass in the prim's local space. Units: distance."""
-    )
-
-	float3 physics:diagonalInertia = (0.0, 0.0, 0.0) (
-        customData = {
-            string apiName = "diagonalInertia"
-        }
-        displayName = "Diagonal Inertia"
-        doc = """If non-zero, specifies diagonalized inertia tensor along the 
-        principal axes. Note if diagonalInertial is (0.0, 0.0, 0.0) it is 
-        ignored. Units: mass*distance*distance."""
-    )
-
-	quatf physics:principalAxes = (0, 0, 0, 0) (
-        customData = {
-            string apiName = "principalAxes"
-        }
-        displayName = "Principal Axes"
-        doc = """Orientation of the inertia tensor's principal axes in the 
-        prim's local space."""
-    )
-}
-
-class "PhysicsCollisionAPI"
-(
-    customData = {
-        string className = "CollisionAPI"
-    }
-    doc = """Applies collision attributes to a UsdGeomXformable prim. If a 
-    simulation is running, this geometry will collide with other geometries that 
-    have PhysicsCollisionAPI applied. If a prim in the parent hierarchy has the
-    RigidBodyAPI applied, this collider is a part of that body. If there is 
-    no body in the parent hierarchy, this collider is considered to be static."""
-
-    inherits = </APISchemaBase>
-)
-{
-    bool physics:collisionEnabled = true (
-        customData = {
-            string apiName = "collisionEnabled"
-        }
-        displayName = "Collision Enabled"
-        doc = """Determines if the PhysicsCollisionAPI is enabled."""
-    )
-
-    rel physics:simulationOwner (
-        customData = {
-            string apiName = "simulationOwner"
-        }
-        displayName = "Simulation Owner"
-        doc = """Single PhysicsScene that will simulate this collider. 
-        By default this object belongs to the first PhysicsScene.
-        Note that if a RigidBodyAPI in the hierarchy above has a different
-        simulationOwner then it has a precedence over this relationship."""
-    )
-}
-
-class "PhysicsMeshCollisionAPI"
-(
-    customData = {
-        string className = "MeshCollisionAPI"
-    }
-	doc = """Attributes to control how a Mesh is made into a collider.
-       Can be applied to only a USDGeomMesh in addition to its
-       PhysicsCollisionAPI."""
-
-   inherits = </APISchemaBase>
-)
-{
-	uniform token physics:approximation = "none" (
-        customData = {
-            string apiName = "approximation"
-        }
-	allowedTokens = ["none","convexDecomposition","convexHull",
-		"boundingSphere","boundingCube","meshSimplification"]
-	
-    displayName = "Approximation"
-	doc = """Determines the mesh's collision approximation:
-	"none" - The mesh geometry is used directly as a collider without any 
-    approximation.
-	"convexDecomposition" - A convex mesh decomposition is performed. This 
-    results in a set of convex mesh colliders.
-	"convexHull" - A convex hull of the mesh is generated and used as the 
-    collider.
-	"boundingSphere" - A bounding sphere is computed around the mesh and used 
-    as a collider.
-	"boundingCube" - An optimally fitting box collider is computed around the 
-    mesh.
-	"meshSimplification" - A mesh simplification step is performed, resulting 
-    in a simplified triangle mesh collider."""
-	)
-}
-
-class "PhysicsMaterialAPI"
-(
-    customData = {
-        string className = "MaterialAPI"
-    }
-    doc = """ Adds simulation material properties to a Material. All collisions 
-    that have a relationship to this material will have their collision response 
-    defined through this material."""
-
-    inherits = </APISchemaBase>
-)
-{
-    float physics:dynamicFriction = 0.0 (
-        customData = {
-            string apiName = "dynamicFriction"
-        }
-        displayName = "Dynamic Friction"
-        doc = """Dynamic friction coefficient. Unitless."""
-    )
-
-    float physics:staticFriction = 0.0 (
-        customData = {
-            string apiName = "staticFriction"
-        }
-        displayName = "Static Friction"
-        doc = """Static friction coefficient. Unitless."""
-    )
-
-    float physics:restitution = 0.0 (
-        customData = {
-            string apiName = "restitution"
-        }
-        displayName = "Restitution"
-        doc = """Restitution coefficient. Unitless."""
-    )
-
-    float physics:density = 0.0 (
-        customData = {
-            string apiName = "density"
-        }
-        displayName = "Density"
-        doc = """If non-zero, defines the density of the material. This can be
-        used for body mass computation, see PhysicsMassAPI.
-        Note that if the density is 0.0 it is ignored. 
-        Units: mass/distance/distance/distance."""
-    )
-}
-
-class PhysicsCollisionGroup "PhysicsCollisionGroup"
-(
-    customData = {
-        string className = "CollisionGroup"
-        string extraIncludes = """
-#include "pxr/usd/usd/collectionAPI.h" """
-    }    
-    doc = """Defines a collision group for coarse filtering. When a collision 
-    occurs between two objects that have a PhysicsCollisionGroup assigned,
-    they will collide with each other unless this PhysicsCollisionGroup pair 
-    is filtered. See filteredGroups attribute.
-    
-    A CollectionAPI:colliders maintains a list of PhysicsCollisionAPI rel-s that 
-    defines the members of this Collisiongroup.
-    """
-
-    inherits = </Typed>
-    prepend apiSchemas = ["CollectionAPI:colliders"]
-)
-{
-	rel physics:filteredGroups (
-        customData = {
-            string apiName = "filteredGroups"
-        }
-
-        displayName = "Filtered Groups"
-        doc = """References a list of PhysicsCollisionGroups with which 
-        collisions should be ignored."""
-    )
-
-    string physics:mergeGroup (
-        customData = {
-            string apiName = "mergeGroupName"
-        }
-
-        displayName = "Merge With Groups"
-        doc = """If non-empty, any collision groups in a stage with a matching
-        mergeGroup should be considered to refer to the same collection. Matching
-        collision groups should behave as if there were a single group containing
-        referenced colliders and filter groups from both collections."""
-    )
-
-    bool physics:invertFilteredGroups (
-        customData = {
-            string apiName = "invertFilteredGroups"
-        }
-
-        displayName = "Invert Filtered Groups"
-        doc = """Normally, the filter will disable collisions against the selected
-        filter groups. However, if this option is set, the filter will disable
-        collisions against all colliders except for those in the selected filter
-        groups."""
-    )
-}
-
-class "PhysicsFilteredPairsAPI"
-(
-    customData = {
-        string className = "FilteredPairsAPI"
-    }
-    doc = """API to describe fine-grained filtering. If a collision between
-    two objects occurs, this pair might be filtered if the pair is defined
-    through this API. This API can be applied either to a body or collision
-    or even articulation. The "filteredPairs" defines what objects it should 
-    not collide against. Note that FilteredPairsAPI filtering has precedence 
-    over CollisionGroup filtering."""
-
-    inherits = </APISchemaBase>
-)
-{    
-    rel physics:filteredPairs (
-        customData = {
-            string apiName = "filteredPairs"
-        }
-        displayName = "Filtered Pairs"
-        doc = """Relationship to objects that should be filtered."""
-    )
-}
-
-
-class PhysicsJoint "PhysicsJoint"
-(
-    customData = {
-        string className = "Joint"
-    }
-    doc = """A joint constrains the movement of rigid bodies. Joint can be 
-    created between two rigid bodies or between one rigid body and world.
-    By default joint primitive defines a D6 joint where all degrees of 
-    freedom are free. Three linear and three angular degrees of freedom.
-    Note that default behavior is to disable collision between jointed bodies.
-    """
-
-    inherits = </Imageable> 
-)
-{
-    rel physics:body0 (
-        customData = {
-            string apiName = "body0"
-        }
-        displayName = "Body 0"
-        doc = """Relationship to any UsdGeomXformable."""
-    )
-
-    rel physics:body1 (
-        customData = {
-            string apiName = "body1"
-        }
-        displayName = "Body 1"
-        doc = """Relationship to any UsdGeomXformable."""
-    )
-
-    point3f physics:localPos0 = (0.0, 0.0, 0.0) (
-        customData = {
-            string apiName = "localPos0"
-        }
-        displayName = "Local Position 0"
-        doc = """Relative position of the joint frame to body0's frame."""
-    )
-
-    quatf physics:localRot0 = (1.0, 0.0, 0.0, 0.0) (
-        customData = {
-            string apiName = "localRot0"
-        }
-        displayName = "Local Rotation 0"
-        doc = """Relative orientation of the joint frame to body0's frame."""
-    )
-
-    point3f physics:localPos1 = (0.0, 0.0, 0.0) (
-        customData = {
-            string apiName = "localPos1"
-        }
-        displayName = "Local Position 1"
-        doc = """Relative position of the joint frame to body1's frame."""
-    )
-
-    quatf physics:localRot1 = (1.0, 0.0, 0.0, 0.0) (
-        customData = {
-            string apiName = "localRot1"
-        }
-        displayName = "Local Rotation 1"
-        doc = """Relative orientation of the joint frame to body1's frame."""
-    )
-
-    bool physics:jointEnabled = true (
-        customData = {
-            string apiName = "jointEnabled"
-        }
-        displayName = "Joint Enabled"
-        doc = """Determines if the joint is enabled."""
-    )
-
-    bool physics:collisionEnabled = false (
-        customData = {
-            string apiName = "collisionEnabled"
-        }
-        displayName = "Collision Enabled"
-        doc = """Determines if the jointed subtrees should collide or not."""
-    )
-
-    uniform bool physics:excludeFromArticulation = false (
-        customData = {
-            string apiName = "excludeFromArticulation"
-        }
-        displayName = "Exclude From Articulation"
-        doc = """Determines if the joint can be included in an Articulation."""
-    )
-
-    float physics:breakForce = inf (
-        customData = {
-            string apiName = "breakForce"
-        }
-        displayName = "Break Force"
-        doc = """Joint break force. If set, joint is to break when this force
-        limit is reached. (Used for linear DOFs.) 
-        Units: mass * distance / second / second"""
-    )
-
-    float physics:breakTorque = inf (
-        customData = {
-            string apiName = "breakTorque"
-        }
-        displayName = "Break Torque"
-        doc = """Joint break torque. If set, joint is to break when this torque
-        limit is reached. (Used for angular DOFs.) 
-        Units: mass * distance * distance / second / second"""
-    )
-
-}
-
-class PhysicsRevoluteJoint "PhysicsRevoluteJoint"
-(
-    customData = {
-        string className = "RevoluteJoint"
-    }
-    doc = """Predefined revolute joint type (rotation along revolute joint
-    axis is permitted.)"""
-
-    inherits = </PhysicsJoint>
-)
-{
-    uniform token physics:axis = "X" (
-        customData = {
-            string apiName = "axis"
-        }
-        allowedTokens = ["X", "Y", "Z"]
-        displayName = "Axis"
-        doc = """Joint axis."""
-    )  
-
-    float physics:lowerLimit = -inf (
-        customData = {
-            string apiName = "lowerLimit"
-        }
-        displayName = "Lower Limit"
-        doc = """Lower limit. Units: degrees. -inf means not limited in 
-        negative direction."""
-    )
-
-    float physics:upperLimit = inf (
-        customData = {
-            string apiName = "upperLimit"
-        }
-        displayName = "Upper Limit"
-        doc = """Upper limit. Units: degrees. inf means not limited in 
-        positive direction."""
-    )
-}
-
-class PhysicsPrismaticJoint "PhysicsPrismaticJoint"
-(
-    customData = {
-        string className = "PrismaticJoint"
-    }
-    doc = """Predefined prismatic joint type (translation along prismatic 
-    joint axis is permitted.)"""
-
-    inherits = </PhysicsJoint>
-)
-{
-    uniform token physics:axis = "X" (
-        customData = {
-            string apiName = "axis"
-        }
-        displayName = "Axis"
-        allowedTokens = ["X", "Y", "Z"]
-        doc = """Joint axis."""
-    )  
-
-    float physics:lowerLimit = -inf (
-        customData = {
-            string apiName = "lowerLimit"
-        }
-        displayName = "Lower Limit"
-        doc = """Lower limit. Units: distance. -inf means not limited in 
-        negative direction."""
-    )
-
-    float physics:upperLimit = inf (
-        customData = {
-            string apiName = "upperLimit"
-        }
-        displayName = "Upper Limit"
-        doc = """Upper limit. Units: distance. inf means not limited in 
-        positive direction."""
-    )
-}
-
-class PhysicsSphericalJoint "PhysicsSphericalJoint"
-(
-    customData = {
-        string className = "SphericalJoint"
-    }
-    doc = """Predefined spherical joint type (Removes linear degrees of 
-    freedom, cone limit may restrict the motion in a given range.) It allows
-    two limit values, which when equal create a circular, else an elliptic 
-    cone limit around the limit axis."""
-
-    inherits = </PhysicsJoint>
-)
-{
-    uniform token physics:axis = "X" (
-        customData = {
-            string apiName = "axis"
-        }
-        allowedTokens = ["X", "Y", "Z"]
-        displayName = "Axis"
-        doc = """Cone limit axis."""
-    )  
-
-    float physics:coneAngle0Limit = -1.0 (
-        customData = {
-            string apiName = "coneAngle0Limit"
-        }
-        displayName = "Cone Angle0 Limit"
-        doc = """Cone limit from the primary joint axis in the local0 frame 
-        toward the next axis. (Next axis of X is Y, and of Z is X.) A 
-        negative value means not limited. Units: degrees."""
-    )
-
-    float physics:coneAngle1Limit = -1.0 (
-        customData = {
-            string apiName = "coneAngle1Limit"
-        }
-        displayName = "Cone Angle1 Limit"
-        doc = """Cone limit from the primary joint axis in the local0 frame 
-        toward the second to next axis. A negative value means not limited. 
-        Units: degrees."""
-    )
-}
-
-
-class PhysicsDistanceJoint "PhysicsDistanceJoint"
-(
-    customData = {
-        string className = "DistanceJoint"
-    }
-    doc = """Predefined distance joint type (Distance between rigid bodies
-    may be limited to given minimum or maximum distance.)"""
-
-    inherits = </PhysicsJoint>
-)
-{
-    float physics:minDistance = -1.0 (
-        customData = {
-            string apiName = "minDistance"
-        }
-        displayName = "Minimum Distance"
-        doc = """Minimum distance. If attribute is negative, the joint is not 
-        limited. Units: distance."""
-    )
-
-    float physics:maxDistance = -1.0 (
-        customData = {
-            string apiName = "maxDistance"
-        }
-        displayName = "Maximum Distance"
-        doc = """Maximum distance. If attribute is negative, the joint is not 
-        limited. Units: distance."""
-    )
-}
-
-class PhysicsFixedJoint "PhysicsFixedJoint"
-(
-    customData = {
-        string className = "FixedJoint"
-    }
-    doc = """Predefined fixed joint type (All degrees of freedom are 
-    removed.)"""
-
-    inherits = </PhysicsJoint>
-)
-{
-}
-
-class "PhysicsLimitAPI"
-(
-    customData = {
-        string className = "LimitAPI"
-        token apiSchemaType = "multipleApply"
-        token propertyNamespacePrefix = "limit"
-    }
-    doc = """The PhysicsLimitAPI can be applied to a PhysicsJoint and will
-    restrict the movement along an axis. PhysicsLimitAPI is a multipleApply 
-    schema: The PhysicsJoint can be restricted along "transX", "transY", 
-    "transZ", "rotX", "rotY", "rotZ", "distance". Setting these as a 
-    multipleApply schema TfToken name will define the degree of freedom the
-    PhysicsLimitAPI is applied to. Note that if the low limit is higher than 
-    the high limit, motion along this axis is considered locked."""
-
-    inherits = </APISchemaBase>
-
-)
-{
-    float physics:low = -inf (
-        customData = {
-            string apiName = "low"
-        }
-        displayName = "Low Limit"
-        doc = """Lower limit. Units: degrees or distance depending on trans or
-        rot axis applied to. -inf means not limited in negative direction."""
-    )
-
-    float physics:high = inf (
-        customData = {
-            string apiName = "high"
-        }
-        displayName = "High Limit"
-        doc = """Upper limit. Units: degrees or distance depending on trans or 
-        rot axis applied to. inf means not limited in positive direction."""
-    )
-}
-
-class "PhysicsDriveAPI"
-(
-    customData = {
-        string className = "DriveAPI"
-        token apiSchemaType = "multipleApply"
-        token propertyNamespacePrefix = "drive"
-    }
-    doc = """The PhysicsDriveAPI when applied to any joint primitive will drive
-    the joint towards a given target. The PhysicsDriveAPI is a multipleApply 
-    schema: drive can be set per axis "transX", "transY", "transZ", "rotX", 
-    "rotY", "rotZ" or its "linear" for prismatic joint or "angular" for revolute 
-    joints. Setting these as a multipleApply schema TfToken name will 
-    define the degree of freedom the DriveAPI is applied to. Each drive is an 
-    implicit force-limited damped spring: 
-    Force or acceleration = stiffness * (targetPosition - position) 
-    + damping * (targetVelocity - velocity)"""
-
-    inherits = </APISchemaBase>
-)
-{
-    uniform token physics:type = "force" (
-        customData = {
-            string apiName = "type"
-        }
-        allowedTokens = ["force", "acceleration"]
-        displayName = "Type"
-        doc = """Drive spring is for the acceleration at the joint (rather 
-        than the force)."""
-    )
-
-    float physics:maxForce = inf (
-        customData = {
-            string apiName = "maxForce"
-        }
-        displayName = "Max Force"
-        doc = """Maximum force that can be applied to drive. Units: 
-                if linear drive: mass*DIST_UNITS/second/second
-                if angular drive: mass*DIST_UNITS*DIST_UNITS/second/second
-                inf means not limited. Must be non-negative.
-        """
-    )
-
-    float physics:targetPosition = 0.0 (
-        customData = {
-            string apiName = "targetPosition"
-        }
-        displayName = "Target Position"
-        doc = """Target value for position. Units: 
-        if linear drive: distance
-        if angular drive: degrees."""
-    )
-
-    float physics:targetVelocity = 0.0 (
-        customData = {
-            string apiName = "targetVelocity"
-        }
-        displayName = "Target Velocity"
-        doc = """Target value for velocity. Units: 
-        if linear drive: distance/second
-        if angular drive: degrees/second."""
-    )
-
-    float physics:damping = 0.0 (
-        customData = {
-            string apiName = "damping"
-        }
-        doc = """Damping of the drive. Units: 
-		if linear drive: mass/second
-		If angular drive: mass*DIST_UNITS*DIST_UNITS/second/degrees."""
-    )
-
-    float physics:stiffness = 0.0 (
-        customData = {
-            string apiName = "stiffness"
-        }
-        doc = """Stiffness of the drive. Units:
-		if linear drive: mass/second/second
-		if angular drive: mass*DIST_UNITS*DIST_UNITS/degrees/second/second."""
-    )
-}
-
-class "PhysicsArticulationRootAPI"
-(
-    customData = {
-        string className = "ArticulationRootAPI"
-    }
-    doc = """PhysicsArticulationRootAPI can be applied to a scene graph node, 
-    and marks the subtree rooted here for inclusion in one or more reduced 
-    coordinate articulations. For floating articulations, this should be on
-    the root body. For fixed articulations (robotics jargon for e.g. a robot 
-    arm for welding that is bolted to the floor), this API can be on a direct 
-    or indirect parent of the root joint which is connected to the world, or 
-    on the joint itself.."""
-
-    inherits = </APISchemaBase>
-)
-{
-}
-