Remove MjcActuatorAPI in favor of typed MjcTransmission.

PiperOrigin-RevId: 781498554 Change-Id: Ib6ce5038645f6ca08638a9d316b0347dc121bc62
2025-07-10 05:58:08 -07:00
parent 2d69610abd
commit fbea72d767
12 changed files with 437 additions and 321 deletions
@@ -36,10 +36,7 @@ def Xform "World"
                uniform token[] xformOpOrder = ["xformOp:transform"]
            }

-            def PhysicsRevoluteJoint "HingeJoint" (
-                prepend apiSchemas = ["PhysicsActuatorAPI"]
-            )
-            {
+            def PhysicsRevoluteJoint "HingeJoint" {
                rel physics:body0 = </World/Axle>
                rel physics:body1 = </World/Axle/Rod>
                point3f physics:localPos0 = (0, 0, 0)
@@ -67,5 +64,11 @@ def Xform "World"
            rel physics:body1 = </World/Axle>
        }
    }
+
+    def Scope "Transmissions" {
+      def MjcTransmission "HingeActuator" {
+        rel mjc:target = </World/Axle/Rod/HingeJoint>
+      }
+    }
 }