Hi,
sorry about the issue.
You can apply the API through a python script eventually. In the python script window you can write a small snippet like this:
from pxr import Usd, UsdGeom, PhysicsSchema
import omni.usd
stage = omni.usd.get_context().get_stage()
prim = stage.GetPrimAtPath(‘prismatic_joint_2’)
PhysicsSchema.DriveAPI.Apply(prim, ‘linear’)
Regards,
Ales