Verify Robot Physics Schema Source Layer

Validates that physics schema are authored in the physics layer.

Why

For modularized USD structure, the physics edits should be limited to the physics layer, so they can be added or removed from the USD depending on the use cases.

Example

Apply Physx schemas like PhysicsRigidBodyAPI or PhysicsDriveAPI:angular only in the physics layer (Physics/physics.usd), not in the base layer.

For example, a prim with rigid body properties should have the schema applied in the physics layer.

How to comply

• Make sure all the physics related schemas (Physx Schemas, Mujoco Schemas) are in the physics layer, as a delta from the base layer