# Description

This MR introduces wrappers around different [USD
Physics](https://openusd.org/dev/api/usd_physics_page_front.html) and
[PhysX
solver](https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/index.html)
schemas. The functions allow modifying the properties on an asset prim
using configuration objects.

The schemas supersede the current `omni.isaac.orbit.utils.kit.py` which
did the same job but had duplication in the implementations.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

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Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>