From 1742ba510c8cd609be70ff8a0411fbd9ae5e30d1 Mon Sep 17 00:00:00 2001 From: Sam Haves Date: Mon, 7 Jul 2025 04:26:52 -0700 Subject: [PATCH] Swap out apostrophe for single quote in mjcPhysics actuator lengthRange docs. PiperOrigin-RevId: 780051495 Change-Id: Ib56a012ded364740564b879456a9e0570b5a0d7a --- include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h | 4 ++-- src/experimental/usd/mjcPhysics/generatedSchema.usda | 4 ++-- src/experimental/usd/mjcPhysics/schema.usda | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h b/include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h index 7e910e84..c8b636af 100644 --- a/include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h +++ b/include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h @@ -403,7 +403,7 @@ class MjcPhysicsActuatorAPI : public UsdAPISchemaBase { // --------------------------------------------------------------------- // // MJCLENGTHRANGEMIN // --------------------------------------------------------------------- // - /// Minimum range of feasible lengths of the actuator’s transmission. + /// Minimum range of feasible lengths of the actuator's transmission. /// /// | || /// | -- | -- | @@ -428,7 +428,7 @@ class MjcPhysicsActuatorAPI : public UsdAPISchemaBase { // --------------------------------------------------------------------- // // MJCLENGTHRANGEMAX // --------------------------------------------------------------------- // - /// Maximum range of feasible lengths of the actuator’s transmission. + /// Maximum range of feasible lengths of the actuator's transmission. /// /// | || /// | -- | -- | diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda index 43afe14e..e7f8c8d9 100644 --- a/src/experimental/usd/mjcPhysics/generatedSchema.usda +++ b/src/experimental/usd/mjcPhysics/generatedSchema.usda @@ -318,10 +318,10 @@ class "PhysicsActuatorAPI" ( doc = "If true and applied to ball and free joints, the 3d rotation axis given by gear is defined in the parent frame (which is the world frame for free joints) rather than the child frame." ) uniform double mjc:lengthRange:max = 0 ( - doc = "Maximum range of feasible lengths of the actuator’s transmission." + doc = "Maximum range of feasible lengths of the actuator's transmission." ) uniform double mjc:lengthRange:min = 0 ( - doc = "Minimum range of feasible lengths of the actuator’s transmission." + doc = "Minimum range of feasible lengths of the actuator's transmission." ) rel mjc:refSite ( doc = "When applied to a site, measure the translation and rotation w.r.t the frame of the refsite. In this case the actuator does have length and position actuators can be used to directly control an end effector, see refsite.xml example model. As above, the length is the dot product of the gear vector and the frame difference. So gear='0 1 0 0 0 0' means 'Y-offset of site in the refsite frame', while gear='0 0 0 0 0 1' means rotation 'Z- rotation of site in the refsite frame'. It is recommended to use a normalized gear vector with nonzeros in only the first 3 or the last 3 elements of gear, so the actuator length will be in either length units or radians, respectively. As with ball joints (see joint above), for rotations which exceed a total angle of pi will wrap around, so tighter limits are recommended." diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda index 4892f809..383b7434 100644 --- a/src/experimental/usd/mjcPhysics/schema.usda +++ b/src/experimental/usd/mjcPhysics/schema.usda @@ -597,11 +597,11 @@ class "PhysicsActuatorAPI" ) uniform double mjc:lengthRange:min = 0 ( - doc = "Minimum range of feasible lengths of the actuator’s transmission." + doc = "Minimum range of feasible lengths of the actuator's transmission." ) uniform double mjc:lengthRange:max = 0 ( - doc = "Maximum range of feasible lengths of the actuator’s transmission." + doc = "Maximum range of feasible lengths of the actuator's transmission." ) # Transmission Properties