Rename MjcTransmission to MjcActuator in mjcPhysics schema.

PiperOrigin-RevId: 782352356
Change-Id: I4b74e3131b0fed925c506742c22038231f848909

Author: havess

include/mujoco/experimental/usd/mjcPhysics/transmission.h renamed to include/mujoco/experimental/usd/mjcPhysics/actuator.h

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MJCPHYSICS_GENERATED_TRANSMISSION_H
-#define MJCPHYSICS_GENERATED_TRANSMISSION_H
+#ifndef MJCPHYSICS_GENERATED_ACTUATOR_H
+#define MJCPHYSICS_GENERATED_ACTUATOR_H
 
-/// \file mjcPhysics/transmission.h
+/// \file mjcPhysics/actuator.h
 
 #include <mujoco/experimental/usd/mjcPhysics/api.h>
 #include <mujoco/experimental/usd/mjcPhysics/tokens.h>
@@ -35,10 +35,10 @@ PXR_NAMESPACE_OPEN_SCOPE
 class SdfAssetPath;
 
 // -------------------------------------------------------------------------- //
-// MJCTRANSMISSION                                                            //
+// MJCACTUATOR                                                                //
 // -------------------------------------------------------------------------- //
 
-/// \class MjcPhysicsTransmission
+/// \class MjcPhysicsActuator
 ///
 /// Known as actuator in MuJoCo, this prim represents force transmission to
 /// joints, bodies, or sites.
@@ -48,29 +48,29 @@ class SdfAssetPath;
 /// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
 /// use MjcPhysicsTokens->rightHanded as the value.
 ///
-class MjcPhysicsTransmission : public UsdTyped {
+class MjcPhysicsActuator : public UsdTyped {
  public:
   /// Compile time constant representing what kind of schema this class is.
   ///
   /// \sa UsdSchemaKind
   static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
 
-  /// Construct a MjcPhysicsTransmission on UsdPrim \p prim .
-  /// Equivalent to MjcPhysicsTransmission::Get(prim.GetStage(), prim.GetPath())
+  /// Construct a MjcPhysicsActuator on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsActuator::Get(prim.GetStage(), prim.GetPath())
   /// for a \em valid \p prim, but will not immediately throw an error for
   /// an invalid \p prim
-  explicit MjcPhysicsTransmission(const UsdPrim &prim = UsdPrim())
+  explicit MjcPhysicsActuator(const UsdPrim &prim = UsdPrim())
       : UsdTyped(prim) {}
 
-  /// Construct a MjcPhysicsTransmission on the prim held by \p schemaObj .
-  /// Should be preferred over MjcPhysicsTransmission(schemaObj.GetPrim()),
+  /// Construct a MjcPhysicsActuator on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsActuator(schemaObj.GetPrim()),
   /// as it preserves SchemaBase state.
-  explicit MjcPhysicsTransmission(const UsdSchemaBase &schemaObj)
+  explicit MjcPhysicsActuator(const UsdSchemaBase &schemaObj)
       : UsdTyped(schemaObj) {}
 
   /// Destructor.
   MJCPHYSICS_API
-  virtual ~MjcPhysicsTransmission();
+  virtual ~MjcPhysicsActuator();
 
   /// Return a vector of names of all pre-declared attributes for this schema
   /// class and all its ancestor classes.  Does not include attributes that
@@ -79,18 +79,17 @@ class MjcPhysicsTransmission : public UsdTyped {
   static const TfTokenVector &GetSchemaAttributeNames(
       bool includeInherited = true);
 
-  /// Return a MjcPhysicsTransmission holding the prim adhering to this
+  /// Return a MjcPhysicsActuator holding the prim adhering to this
   /// schema at \p path on \p stage.  If no prim exists at \p path on
   /// \p stage, or if the prim at that path does not adhere to this schema,
   /// return an invalid schema object.  This is shorthand for the following:
   ///
   /// \code
-  /// MjcPhysicsTransmission(stage->GetPrimAtPath(path));
+  /// MjcPhysicsActuator(stage->GetPrimAtPath(path));
   /// \endcode
   ///
   MJCPHYSICS_API
-  static MjcPhysicsTransmission Get(const UsdStagePtr &stage,
-                                    const SdfPath &path);
+  static MjcPhysicsActuator Get(const UsdStagePtr &stage, const SdfPath &path);
 
   /// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
   /// is defined (according to UsdPrim::IsDefined()) on this stage.
@@ -115,8 +114,8 @@ class MjcPhysicsTransmission : public UsdTyped {
   /// the opinion at the current EditTarget.
   ///
   MJCPHYSICS_API
-  static MjcPhysicsTransmission Define(const UsdStagePtr &stage,
-                                       const SdfPath &path);
+  static MjcPhysicsActuator Define(const UsdStagePtr &stage,
+                                   const SdfPath &path);
 
  protected:
   /// Returns the kind of schema this class belongs to.

include/mujoco/experimental/usd/mjcPhysics/tokens.h

@@ -55,15 +55,15 @@ struct MjcPhysicsTokensType {
   MJCPHYSICS_API MjcPhysicsTokensType();
   /// \brief "affine"
   ///
-  /// Possible value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Possible
-  /// value for MjcPhysicsTransmission::GetMjcGainTypeAttr()
+  /// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
+  /// value for MjcPhysicsActuator::GetMjcGainTypeAttr()
   const TfToken affine;
   /// \brief "auto"
   ///
   /// Fallback value for MjcPhysicsSceneAPI::GetJacobianAttr(), Fallback value
-  /// for MjcPhysicsTransmission::GetMjcActLimitedAttr(), Fallback value for
-  /// MjcPhysicsTransmission::GetMjcCtrlLimitedAttr(), Fallback value for
-  /// MjcPhysicsTransmission::GetMjcForceLimitedAttr(), Fallback value for
+  /// for MjcPhysicsActuator::GetMjcActLimitedAttr(), Fallback value for
+  /// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Fallback value for
+  /// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Fallback value for
   /// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(),  This token represents
   /// the auto constraint Jacobian and matrices computed from it.
   const TfToken auto_;
@@ -97,22 +97,22 @@ struct MjcPhysicsTokensType {
   const TfToken exact;
   /// \brief "false"
   ///
-  /// Possible value for MjcPhysicsTransmission::GetMjcActLimitedAttr(),
-  /// Possible value for MjcPhysicsTransmission::GetMjcCtrlLimitedAttr(),
-  /// Possible value for MjcPhysicsTransmission::GetMjcForceLimitedAttr(),
-  /// Possible value for MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
+  /// Possible value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible
+  /// value for MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
+  /// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
+  /// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
   const TfToken false_;
   /// \brief "filter"
   ///
-  /// Possible value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
+  /// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
   const TfToken filter;
   /// \brief "filterexact"
   ///
-  /// Possible value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
+  /// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
   const TfToken filterexact;
   /// \brief "fixed"
   ///
-  /// Fallback value for MjcPhysicsTransmission::GetMjcGainTypeAttr()
+  /// Fallback value for MjcPhysicsActuator::GetMjcGainTypeAttr()
   const TfToken fixed;
   /// \brief "implicit"
   ///
@@ -126,7 +126,7 @@ struct MjcPhysicsTokensType {
   const TfToken implicitfast;
   /// \brief "integrator"
   ///
-  /// Possible value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
+  /// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
   const TfToken integrator;
   /// \brief "legacy"
   ///
@@ -138,23 +138,23 @@ struct MjcPhysicsTokensType {
   const TfToken mjcAct;
   /// \brief "mjc:actDim"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcActDim;
   /// \brief "mjc:actEarly"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcActEarly;
   /// \brief "mjc:actLimited"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcActLimited;
   /// \brief "mjc:actRange:max"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcActRangeMax;
   /// \brief "mjc:actRange:min"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcActRangeMin;
   /// \brief "mjc:actuatorfrclimited"
   ///
@@ -178,43 +178,43 @@ struct MjcPhysicsTokensType {
   const TfToken mjcArmature;
   /// \brief "mjc:biasPrm"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcBiasPrm;
   /// \brief "mjc:biasType"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcBiasType;
   /// \brief "mjc:crankLength"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcCrankLength;
   /// \brief "mjc:ctrl"
   ///
   /// MjcPhysicsKeyframe
   const TfToken mjcCtrl;
   /// \brief "mjc:ctrlLimited"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcCtrlLimited;
   /// \brief "mjc:ctrlRange:max"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcCtrlRangeMax;
   /// \brief "mjc:ctrlRange:min"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcCtrlRangeMin;
   /// \brief "mjc:damping"
   ///
   /// MjcPhysicsJointAPI
   const TfToken mjcDamping;
   /// \brief "mjc:dynPrm"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcDynPrm;
   /// \brief "mjc:dynType"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcDynType;
   /// \brief "mjc:flag:actuation"
   ///
@@ -310,52 +310,52 @@ struct MjcPhysicsTokensType {
   const TfToken mjcFlagWarmstart;
   /// \brief "mjc:forceLimited"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcForceLimited;
   /// \brief "mjc:forceRange:max"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcForceRangeMax;
   /// \brief "mjc:forceRange:min"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcForceRangeMin;
   /// \brief "mjc:frictionloss"
   ///
   /// MjcPhysicsJointAPI
   const TfToken mjcFrictionloss;
   /// \brief "mjc:gainPrm"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcGainPrm;
   /// \brief "mjc:gainType"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcGainType;
   /// \brief "mjc:gear"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcGear;
   /// \brief "mjc:group"
   ///
-  /// MjcPhysicsSiteAPI, MjcPhysicsImageableAPI, MjcPhysicsCollisionAPI,
-  /// MjcPhysicsTransmission, MjcPhysicsJointAPI
+  /// MjcPhysicsSiteAPI, MjcPhysicsCollisionAPI, MjcPhysicsActuator,
+  /// MjcPhysicsJointAPI
   const TfToken mjcGroup;
   /// \brief "mjc:inertia"
   ///
   /// MjcPhysicsMeshCollisionAPI
   const TfToken mjcInertia;
   /// \brief "mjc:jointInParent"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcJointInParent;
   /// \brief "mjc:lengthRange:max"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcLengthRangeMax;
   /// \brief "mjc:lengthRange:min"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcLengthRangeMin;
   /// \brief "mjc:margin"
   ///
@@ -491,15 +491,15 @@ struct MjcPhysicsTokensType {
   const TfToken mjcRef;
   /// \brief "mjc:refSite"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcRefSite;
   /// \brief "mjc:shellinertia"
   ///
   /// MjcPhysicsCollisionAPI
   const TfToken mjcShellinertia;
   /// \brief "mjc:sliderSite"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcSliderSite;
   /// \brief "mjc:solimpfriction"
   ///
@@ -531,13 +531,13 @@ struct MjcPhysicsTokensType {
   const TfToken mjcStiffness;
   /// \brief "mjc:target"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsActuator
   const TfToken mjcTarget;
   /// \brief "muscle"
   ///
-  /// Possible value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Possible
-  /// value for MjcPhysicsTransmission::GetMjcDynTypeAttr(), Possible value for
-  /// MjcPhysicsTransmission::GetMjcGainTypeAttr()
+  /// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
+  /// value for MjcPhysicsActuator::GetMjcDynTypeAttr(), Possible value for
+  /// MjcPhysicsActuator::GetMjcGainTypeAttr()
   const TfToken muscle;
   /// \brief "newton"
   ///
@@ -546,8 +546,8 @@ struct MjcPhysicsTokensType {
   const TfToken newton;
   /// \brief "none"
   ///
-  /// Fallback value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Fallback
-  /// value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
+  /// Fallback value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Fallback
+  /// value for MjcPhysicsActuator::GetMjcDynTypeAttr()
   const TfToken none;
   /// \brief "pgs"
   ///
@@ -575,25 +575,25 @@ struct MjcPhysicsTokensType {
   const TfToken sparse;
   /// \brief "true"
   ///
-  /// Possible value for MjcPhysicsTransmission::GetMjcActLimitedAttr(),
-  /// Possible value for MjcPhysicsTransmission::GetMjcCtrlLimitedAttr(),
-  /// Possible value for MjcPhysicsTransmission::GetMjcForceLimitedAttr(),
-  /// Possible value for MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
+  /// Possible value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible
+  /// value for MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
+  /// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
+  /// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
   const TfToken true_;
   /// \brief "user"
   ///
-  /// Possible value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Possible
-  /// value for MjcPhysicsTransmission::GetMjcDynTypeAttr(), Possible value for
-  /// MjcPhysicsTransmission::GetMjcGainTypeAttr()
+  /// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
+  /// value for MjcPhysicsActuator::GetMjcDynTypeAttr(), Possible value for
+  /// MjcPhysicsActuator::GetMjcGainTypeAttr()
   const TfToken user;
+  /// \brief "MjcActuator"
+  ///
+  /// Schema identifier and family for MjcPhysicsActuator
+  const TfToken MjcActuator;
   /// \brief "MjcCollisionAPI"
   ///
   /// Schema identifier and family for MjcPhysicsCollisionAPI
   const TfToken MjcCollisionAPI;
-  /// \brief "MjcImageableAPI"
-  ///
-  /// Schema identifier and family for MjcPhysicsImageableAPI
-  const TfToken MjcImageableAPI;
   /// \brief "MjcJointAPI"
   ///
   /// Schema identifier and family for MjcPhysicsJointAPI
@@ -614,10 +614,6 @@ struct MjcPhysicsTokensType {
   ///
   /// Schema identifier and family for MjcPhysicsSiteAPI
   const TfToken MjcSiteAPI;
-  /// \brief "MjcTransmission"
-  ///
-  /// Schema identifier and family for MjcPhysicsTransmission
-  const TfToken MjcTransmission;
   /// A vector of all of the tokens listed above.
   const std::vector<TfToken> allTokens;
 };