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usdPhysics: add public getters for joint/collider body resolution and refactor the joint parser onto them - #4165

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andrewkaufman wants to merge 5 commits into
PixarAnimationStudios:devfrom
andrewkaufman:add-collision-prims-api
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usdPhysics: add public getters for joint/collider body resolution and refactor the joint parser onto them#4165
andrewkaufman wants to merge 5 commits into
PixarAnimationStudios:devfrom
andrewkaufman:add-collision-prims-api

usdPhysics: rebase a world-owned joint anchor into the world frame

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succeeded Sep 28, 2026 in 34s