#usda 1.0
(
    defaultPrim = "root"
    upAxis = "Z"
    metersPerUnit = 1.0
)
over "root" {
    def Scope "Joints"
    {
        def PhysicsJoint "two_cubes_joint" (
            prepend apiSchemas = ["PhysicsLimitAPI", "PhysicsLimitAPI:transY", "PhysicsLimitAPI:transZ", "PhysicsLimitAPI:rotX", "PhysicsLimitAPI:rotY", "PhysicsDriveAPI:rotZ"]
        )
        {
            rel physics:body0 = </root/first_cube>
            rel physics:body1 = </root/second_cube>
            float limit:rotX:physics:high = 0
            float limit:rotX:physics:low = 0
            float limit:rotY:physics:high = 0
            float limit:rotY:physics:low = -2
            float limit:rotZ:physics:high = 0
            float limit:rotZ:physics:low = 0
            float limit:transX:physics:high = 0
            float limit:transX:physics:low = 0
            float limit:transY:physics:high = 0
            float limit:transY:physics:low = 0
            float limit:transZ:physics:high = 0
            float limit:transZ:physics:low = 0
            point3f physics:localPos0 = (0, 1.0, 0)
            point3f physics:localPos1 = (-0.5, 0, 0.5)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
        }
    }
}