Dynamic rigid body on a Cylinder

Convenience composition: one Cylinder prim that is both the body and its only collider (a PxConvexCoreGeometry with the default runtime settings). Owns no columns; everything comes from the listed components.

• Type: Cylinder

• Required APIs: PhysicsRigidBodyAPI, PhysicsCollisionAPI

• Optional APIs: PhysxCollisionAPI, PhysicsMassAPI

• Helper: create_rigid_body_cylinders()