Remove MjcActuatorAPI in favor of typed MjcTransmission.
PiperOrigin-RevId: 781498554 Change-Id: Ib6ce5038645f6ca08638a9d316b0347dc121bc62
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
2d69610abd
commit
fbea72d767
@@ -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 MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
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/// value for MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
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/// Possible value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Possible
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/// value for MjcPhysicsTransmission::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 MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Fallback value for
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/// MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Fallback value for
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/// MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), Fallback value for
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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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/// 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 MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Possible
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/// value for MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Possible value
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/// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), Possible value for
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/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
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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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const TfToken false_;
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/// \brief "filter"
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///
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/// Possible value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
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/// Possible value for MjcPhysicsTransmission::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 MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
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/// Possible value for MjcPhysicsTransmission::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 MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
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/// Fallback value for MjcPhysicsTransmission::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 MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
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/// Possible value for MjcPhysicsTransmission::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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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcActDim;
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/// \brief "mjc:actEarly"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcActEarly;
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/// \brief "mjc:actLimited"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcActLimited;
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/// \brief "mjc:actRange:max"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcActRangeMax;
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/// \brief "mjc:actRange:min"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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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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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcBiasPrm;
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/// \brief "mjc:biasType"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcBiasType;
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/// \brief "mjc:crankLength"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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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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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcCtrlLimited;
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/// \brief "mjc:ctrlRange:max"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcCtrlRangeMax;
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/// \brief "mjc:ctrlRange:min"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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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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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcDynPrm;
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/// \brief "mjc:dynType"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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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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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcForceLimited;
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/// \brief "mjc:forceRange:max"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcForceRangeMax;
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/// \brief "mjc:forceRange:min"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcForceRangeMin;
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/// \brief "mjc:frictionloss"
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///
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@@ -326,31 +326,35 @@ struct MjcPhysicsTokensType {
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const TfToken mjcFrictionloss;
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/// \brief "mjc:gainPrm"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcGainPrm;
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/// \brief "mjc:gainType"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcGainType;
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/// \brief "mjc:gear"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcGear;
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/// \brief "mjc:group"
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///
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/// MjcPhysicsTransmission
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const TfToken mjcGroup;
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/// \brief "mjc:inertia"
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///
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/// MjcPhysicsMeshCollisionAPI
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const TfToken mjcInertia;
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/// \brief "mjc:jointInParent"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcJointInParent;
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/// \brief "mjc:lengthRange:max"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcLengthRangeMax;
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/// \brief "mjc:lengthRange:min"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcLengthRangeMin;
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/// \brief "mjc:margin"
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///
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@@ -486,7 +490,7 @@ struct MjcPhysicsTokensType {
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const TfToken mjcRef;
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/// \brief "mjc:refSite"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcRefSite;
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/// \brief "mjc:shellinertia"
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///
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@@ -494,7 +498,7 @@ struct MjcPhysicsTokensType {
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const TfToken mjcShellinertia;
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/// \brief "mjc:sliderSite"
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///
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/// MjcPhysicsActuatorAPI
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/// MjcPhysicsTransmission
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const TfToken mjcSliderSite;
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/// \brief "mjc:solimpfriction"
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///
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@@ -524,11 +528,15 @@ struct MjcPhysicsTokensType {
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///
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/// MjcPhysicsJointAPI
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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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const TfToken mjcTarget;
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/// \brief "muscle"
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///
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/// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
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/// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr(), Possible value for
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/// MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
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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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const TfToken muscle;
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/// \brief "newton"
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///
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@@ -537,8 +545,8 @@ 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 MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Fallback
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/// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
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/// Fallback value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Fallback
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/// value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
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const TfToken none;
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/// \brief "pgs"
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///
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@@ -566,21 +574,17 @@ 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 MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Possible
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/// value for MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Possible value
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/// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), Possible value for
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/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
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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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const TfToken true_;
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/// \brief "user"
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///
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/// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
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/// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr(), Possible value for
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/// MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
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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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const TfToken user;
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/// \brief "MjcActuatorAPI"
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///
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/// Schema identifier and family for MjcPhysicsActuatorAPI
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const TfToken MjcActuatorAPI;
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/// \brief "MjcCollisionAPI"
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///
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/// Schema identifier and family for MjcPhysicsCollisionAPI
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@@ -605,6 +609,10 @@ 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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