Add CollisionAPI and MeshCollisionAPI schemas to mjcPhysics.

PiperOrigin-RevId: 762478906
Change-Id: I9103e8d3cf99492e2df1c6b4af7937b12993f225

src/experimental/usd/mjcPhysics/generatedSchema.usda

@@ -226,3 +226,24 @@ class "SiteAPI" (
 {
 }
 
+class "CollisionAPI" (
+    doc = "API describing a Mujoco collider."
+)
+{
+    uniform bool mjc:shellinertia = 0 (
+        displayName = "Shell Inertia"
+        doc = "Enables handling of the inertia assuming mass is concentrated on the surface."
+    )
+}
+
+class "MeshCollisionAPI" (
+    doc = "API describing a Mujoco collider."
+)
+{
+    uniform token mjc:inertia = "legacy" (
+        allowedTokens = ["legacy", "convex", "exact", "shell"]
+        displayName = "Inertia"
+        doc = "Controls how a mesh is used when mass and inertia are inferred from geometry."
+    )
+}
+