Rename MjcTransmission to MjcActuator in mjcPhysics schema.
PiperOrigin-RevId: 782352356 Change-Id: I4b74e3131b0fed925c506742c22038231f848909
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
3473e4e451
commit
11e695b4c2
+18
-19
@@ -12,10 +12,10 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MJCPHYSICS_GENERATED_TRANSMISSION_H
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#define MJCPHYSICS_GENERATED_TRANSMISSION_H
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#ifndef MJCPHYSICS_GENERATED_ACTUATOR_H
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#define MJCPHYSICS_GENERATED_ACTUATOR_H
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/// \file mjcPhysics/transmission.h
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/// \file mjcPhysics/actuator.h
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#include <mujoco/experimental/usd/mjcPhysics/api.h>
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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@@ -35,10 +35,10 @@ PXR_NAMESPACE_OPEN_SCOPE
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class SdfAssetPath;
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// -------------------------------------------------------------------------- //
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// MJCTRANSMISSION //
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// MJCACTUATOR //
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// -------------------------------------------------------------------------- //
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/// \class MjcPhysicsTransmission
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/// \class MjcPhysicsActuator
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///
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/// Known as actuator in MuJoCo, this prim represents force transmission to
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/// joints, bodies, or sites.
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@@ -48,29 +48,29 @@ class SdfAssetPath;
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/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
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/// use MjcPhysicsTokens->rightHanded as the value.
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///
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class MjcPhysicsTransmission : public UsdTyped {
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class MjcPhysicsActuator : public UsdTyped {
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public:
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/// Compile time constant representing what kind of schema this class is.
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///
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/// \sa UsdSchemaKind
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static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
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/// Construct a MjcPhysicsTransmission on UsdPrim \p prim .
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/// Equivalent to MjcPhysicsTransmission::Get(prim.GetStage(), prim.GetPath())
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/// Construct a MjcPhysicsActuator on UsdPrim \p prim .
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/// Equivalent to MjcPhysicsActuator::Get(prim.GetStage(), prim.GetPath())
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/// for a \em valid \p prim, but will not immediately throw an error for
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/// an invalid \p prim
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explicit MjcPhysicsTransmission(const UsdPrim &prim = UsdPrim())
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explicit MjcPhysicsActuator(const UsdPrim &prim = UsdPrim())
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: UsdTyped(prim) {}
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/// Construct a MjcPhysicsTransmission on the prim held by \p schemaObj .
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/// Should be preferred over MjcPhysicsTransmission(schemaObj.GetPrim()),
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/// Construct a MjcPhysicsActuator on the prim held by \p schemaObj .
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/// Should be preferred over MjcPhysicsActuator(schemaObj.GetPrim()),
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/// as it preserves SchemaBase state.
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explicit MjcPhysicsTransmission(const UsdSchemaBase &schemaObj)
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explicit MjcPhysicsActuator(const UsdSchemaBase &schemaObj)
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: UsdTyped(schemaObj) {}
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/// Destructor.
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MJCPHYSICS_API
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virtual ~MjcPhysicsTransmission();
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virtual ~MjcPhysicsActuator();
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/// Return a vector of names of all pre-declared attributes for this schema
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/// class and all its ancestor classes. Does not include attributes that
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@@ -79,18 +79,17 @@ class MjcPhysicsTransmission : public UsdTyped {
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static const TfTokenVector &GetSchemaAttributeNames(
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bool includeInherited = true);
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/// Return a MjcPhysicsTransmission holding the prim adhering to this
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/// Return a MjcPhysicsActuator holding the prim adhering to this
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/// schema at \p path on \p stage. If no prim exists at \p path on
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/// \p stage, or if the prim at that path does not adhere to this schema,
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/// return an invalid schema object. This is shorthand for the following:
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///
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/// \code
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/// MjcPhysicsTransmission(stage->GetPrimAtPath(path));
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/// MjcPhysicsActuator(stage->GetPrimAtPath(path));
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/// \endcode
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///
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MJCPHYSICS_API
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static MjcPhysicsTransmission Get(const UsdStagePtr &stage,
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const SdfPath &path);
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static MjcPhysicsActuator Get(const UsdStagePtr &stage, const SdfPath &path);
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/// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
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/// is defined (according to UsdPrim::IsDefined()) on this stage.
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@@ -115,8 +114,8 @@ class MjcPhysicsTransmission : public UsdTyped {
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/// the opinion at the current EditTarget.
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///
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MJCPHYSICS_API
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static MjcPhysicsTransmission Define(const UsdStagePtr &stage,
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const SdfPath &path);
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static MjcPhysicsActuator Define(const UsdStagePtr &stage,
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const SdfPath &path);
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protected:
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/// Returns the kind of schema this class belongs to.
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@@ -55,15 +55,15 @@ struct MjcPhysicsTokensType {
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MJCPHYSICS_API MjcPhysicsTokensType();
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/// \brief "affine"
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///
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/// Possible value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Possible
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/// value for MjcPhysicsTransmission::GetMjcGainTypeAttr()
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/// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
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/// value for MjcPhysicsActuator::GetMjcGainTypeAttr()
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const TfToken affine;
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/// \brief "auto"
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///
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/// Fallback value for MjcPhysicsSceneAPI::GetJacobianAttr(), Fallback value
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/// for MjcPhysicsTransmission::GetMjcActLimitedAttr(), Fallback value for
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/// MjcPhysicsTransmission::GetMjcCtrlLimitedAttr(), Fallback value for
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/// MjcPhysicsTransmission::GetMjcForceLimitedAttr(), Fallback value for
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/// for MjcPhysicsActuator::GetMjcActLimitedAttr(), Fallback value for
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/// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Fallback value for
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/// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Fallback value for
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/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), This token represents
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/// the auto constraint Jacobian and matrices computed from it.
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const TfToken auto_;
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@@ -97,22 +97,22 @@ struct MjcPhysicsTokensType {
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const TfToken exact;
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/// \brief "false"
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///
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/// Possible value for MjcPhysicsTransmission::GetMjcActLimitedAttr(),
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/// Possible value for MjcPhysicsTransmission::GetMjcCtrlLimitedAttr(),
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/// Possible value for MjcPhysicsTransmission::GetMjcForceLimitedAttr(),
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/// Possible value for MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
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/// Possible value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible
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/// value for MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
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/// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
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/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
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const TfToken false_;
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/// \brief "filter"
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///
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/// Possible value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
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/// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
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const TfToken filter;
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/// \brief "filterexact"
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///
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/// Possible value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
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/// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
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const TfToken filterexact;
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/// \brief "fixed"
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///
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/// Fallback value for MjcPhysicsTransmission::GetMjcGainTypeAttr()
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/// Fallback value for MjcPhysicsActuator::GetMjcGainTypeAttr()
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const TfToken fixed;
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/// \brief "implicit"
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///
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@@ -126,7 +126,7 @@ struct MjcPhysicsTokensType {
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const TfToken implicitfast;
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/// \brief "integrator"
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///
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/// Possible value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
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/// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
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const TfToken integrator;
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/// \brief "legacy"
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///
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@@ -138,23 +138,23 @@ struct MjcPhysicsTokensType {
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const TfToken mjcAct;
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/// \brief "mjc:actDim"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcActDim;
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/// \brief "mjc:actEarly"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcActEarly;
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/// \brief "mjc:actLimited"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcActLimited;
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/// \brief "mjc:actRange:max"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcActRangeMax;
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/// \brief "mjc:actRange:min"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcActRangeMin;
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/// \brief "mjc:actuatorfrclimited"
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///
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@@ -178,15 +178,15 @@ struct MjcPhysicsTokensType {
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const TfToken mjcArmature;
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/// \brief "mjc:biasPrm"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcBiasPrm;
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/// \brief "mjc:biasType"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcBiasType;
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/// \brief "mjc:crankLength"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcCrankLength;
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/// \brief "mjc:ctrl"
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///
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@@ -194,15 +194,15 @@ struct MjcPhysicsTokensType {
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const TfToken mjcCtrl;
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/// \brief "mjc:ctrlLimited"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcCtrlLimited;
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/// \brief "mjc:ctrlRange:max"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcCtrlRangeMax;
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/// \brief "mjc:ctrlRange:min"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcCtrlRangeMin;
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/// \brief "mjc:damping"
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///
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@@ -210,11 +210,11 @@ struct MjcPhysicsTokensType {
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const TfToken mjcDamping;
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/// \brief "mjc:dynPrm"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcDynPrm;
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/// \brief "mjc:dynType"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcDynType;
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/// \brief "mjc:flag:actuation"
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///
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@@ -310,15 +310,15 @@ struct MjcPhysicsTokensType {
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const TfToken mjcFlagWarmstart;
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/// \brief "mjc:forceLimited"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcForceLimited;
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/// \brief "mjc:forceRange:max"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcForceRangeMax;
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/// \brief "mjc:forceRange:min"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcForceRangeMin;
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/// \brief "mjc:frictionloss"
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///
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@@ -326,20 +326,20 @@ struct MjcPhysicsTokensType {
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const TfToken mjcFrictionloss;
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/// \brief "mjc:gainPrm"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcGainPrm;
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/// \brief "mjc:gainType"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcGainType;
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/// \brief "mjc:gear"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcGear;
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/// \brief "mjc:group"
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///
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/// MjcPhysicsSiteAPI, MjcPhysicsImageableAPI, MjcPhysicsCollisionAPI,
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/// MjcPhysicsTransmission, MjcPhysicsJointAPI
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/// MjcPhysicsSiteAPI, MjcPhysicsCollisionAPI, MjcPhysicsActuator,
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/// MjcPhysicsJointAPI
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const TfToken mjcGroup;
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/// \brief "mjc:inertia"
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///
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@@ -347,15 +347,15 @@ struct MjcPhysicsTokensType {
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const TfToken mjcInertia;
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/// \brief "mjc:jointInParent"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcJointInParent;
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/// \brief "mjc:lengthRange:max"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcLengthRangeMax;
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/// \brief "mjc:lengthRange:min"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcLengthRangeMin;
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/// \brief "mjc:margin"
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///
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@@ -491,7 +491,7 @@ struct MjcPhysicsTokensType {
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const TfToken mjcRef;
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/// \brief "mjc:refSite"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcRefSite;
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/// \brief "mjc:shellinertia"
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///
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@@ -499,7 +499,7 @@ struct MjcPhysicsTokensType {
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const TfToken mjcShellinertia;
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/// \brief "mjc:sliderSite"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcSliderSite;
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/// \brief "mjc:solimpfriction"
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///
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@@ -531,13 +531,13 @@ struct MjcPhysicsTokensType {
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const TfToken mjcStiffness;
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/// \brief "mjc:target"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsActuator
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const TfToken mjcTarget;
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/// \brief "muscle"
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///
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/// Possible value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Possible
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/// value for MjcPhysicsTransmission::GetMjcDynTypeAttr(), Possible value for
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/// MjcPhysicsTransmission::GetMjcGainTypeAttr()
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/// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
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/// value for MjcPhysicsActuator::GetMjcDynTypeAttr(), Possible value for
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/// MjcPhysicsActuator::GetMjcGainTypeAttr()
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const TfToken muscle;
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/// \brief "newton"
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///
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@@ -546,8 +546,8 @@ struct MjcPhysicsTokensType {
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const TfToken newton;
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/// \brief "none"
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///
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/// Fallback value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Fallback
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/// value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
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/// Fallback value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Fallback
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/// value for MjcPhysicsActuator::GetMjcDynTypeAttr()
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const TfToken none;
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/// \brief "pgs"
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///
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@@ -575,25 +575,25 @@ struct MjcPhysicsTokensType {
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const TfToken sparse;
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/// \brief "true"
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///
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/// Possible value for MjcPhysicsTransmission::GetMjcActLimitedAttr(),
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/// Possible value for MjcPhysicsTransmission::GetMjcCtrlLimitedAttr(),
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/// Possible value for MjcPhysicsTransmission::GetMjcForceLimitedAttr(),
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/// Possible value for MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
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/// Possible value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible
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/// value for MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
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/// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
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/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
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const TfToken true_;
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/// \brief "user"
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///
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/// Possible value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Possible
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/// value for MjcPhysicsTransmission::GetMjcDynTypeAttr(), Possible value for
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/// MjcPhysicsTransmission::GetMjcGainTypeAttr()
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/// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
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/// value for MjcPhysicsActuator::GetMjcDynTypeAttr(), Possible value for
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/// MjcPhysicsActuator::GetMjcGainTypeAttr()
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const TfToken user;
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/// \brief "MjcActuator"
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///
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/// Schema identifier and family for MjcPhysicsActuator
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const TfToken MjcActuator;
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/// \brief "MjcCollisionAPI"
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///
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/// Schema identifier and family for MjcPhysicsCollisionAPI
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const TfToken MjcCollisionAPI;
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/// \brief "MjcImageableAPI"
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///
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/// Schema identifier and family for MjcPhysicsImageableAPI
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const TfToken MjcImageableAPI;
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/// \brief "MjcJointAPI"
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///
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/// Schema identifier and family for MjcPhysicsJointAPI
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@@ -614,10 +614,6 @@ struct MjcPhysicsTokensType {
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///
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/// Schema identifier and family for MjcPhysicsSiteAPI
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const TfToken MjcSiteAPI;
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/// \brief "MjcTransmission"
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///
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/// Schema identifier and family for MjcPhysicsTransmission
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const TfToken MjcTransmission;
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/// A vector of all of the tokens listed above.
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const std::vector<TfToken> allTokens;
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};
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