Remove unused mjOption.apirate.
PiperOrigin-RevId: 815633571 Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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a849fedcd2
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431f96572e
@@ -308,13 +308,6 @@ adjust it properly through the XML.
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optimization-related applications, real-time is no longer good enough and instead it is desirable to run the
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simulation as fast as possible. In that case the time step should be made as large as possible.
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.. _option-apirate:
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:at:`apirate`: :at-val:`real, "100"`
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This parameter determines the rate (in Hz) at which an external API allows the update function to be executed. This
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mechanism is used to simulate devices with limited communication bandwidth. It only affects the socket API and not
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the physics simulation.
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.. _option-impratio:
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:at:`impratio`: :at-val:`real, "1"`
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+7
-7
@@ -10,19 +10,19 @@
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| :ref:`option | \* | :class: mjcf-attributes |
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| <option>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`timestep<option-timestep>` | :ref:`apirate<option-apirate>` | :ref:`impratio<option-impratio>` | :ref:`tolerance<option-tolerance>` | |
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| | | | :ref:`timestep<option-timestep>` | :ref:`impratio<option-impratio>` | :ref:`tolerance<option-tolerance>` | :ref:`ls_tolerance<option-ls_tolerance>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`ls_tolerance<option-ls_tolerance>` | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`ccd_tolerance<option-ccd_tolerance>` | :ref:`gravity<option-gravity>` | |
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| | | | :ref:`noslip_tolerance<option-noslip_tolerance>` | :ref:`ccd_tolerance<option-ccd_tolerance>` | :ref:`gravity<option-gravity>` | :ref:`wind<option-wind>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`wind<option-wind>` | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | |
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| | | | :ref:`magnetic<option-magnetic>` | :ref:`density<option-density>` | :ref:`viscosity<option-viscosity>` | :ref:`o_margin<option-o_margin>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`o_margin<option-o_margin>` | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`o_friction<option-o_friction>` | |
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| | | | :ref:`o_solref<option-o_solref>` | :ref:`o_solimp<option-o_solimp>` | :ref:`o_friction<option-o_friction>` | :ref:`integrator<option-integrator>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`integrator<option-integrator>` | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | |
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| | | | :ref:`cone<option-cone>` | :ref:`jacobian<option-jacobian>` | :ref:`solver<option-solver>` | :ref:`iterations<option-iterations>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`iterations<option-iterations>` | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`ccd_iterations<option-ccd_iterations>` | |
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| | | | :ref:`ls_iterations<option-ls_iterations>` | :ref:`noslip_iterations<option-noslip_iterations>` | :ref:`ccd_iterations<option-ccd_iterations>` | :ref:`sdf_iterations<option-sdf_iterations>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`sdf_iterations<option-sdf_iterations>` | :ref:`sdf_initpoints<option-sdf_initpoints>` | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` | | |
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| | | | :ref:`sdf_initpoints<option-sdf_initpoints>` | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| option |br| |_| |L| | | .. table:: |
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+5
-3
@@ -23,17 +23,19 @@ General
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limit, are recolored by using the :ref:`constraint impedance<soParameters>` :math:`d` to mix the existing color with
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:ref:`visual/rgba/constraint<visual-rgba-constraint>`. For spatial tendons, this visualization aid is active only if
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no :ref:`material<tendon-spatial-material>` is set and :ref:`rgba<tendon-spatial-rgba>` is default.
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- Added :ref:`mju_getXMLDependencies` for computing a list of unique asset dependencies from an MJCF file.
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- Added the code sample ``dependencies`` which provides command line utility for printing the result of :ref:`mju_getXMLDependencies`.
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.. admonition:: Breaking ABI changes
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:class: attention
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- The attribute ``mjOption.apirate`` was unused and has been removed.
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MJX
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^^^
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- Fix :github:issue:`2508`, ``qLD`` shapes mismatched mjModel during ``get_data_into``.
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Version 3.3.6 (September 15, 2025)
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----------------------------------
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@@ -800,7 +800,6 @@ typedef struct mjVFS_ mjVFS;
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struct mjOption_ { // physics options
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// timing parameters
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mjtNum timestep; // timestep
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mjtNum apirate; // update rate for remote API (Hz)
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// solver parameters
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mjtNum impratio; // ratio of friction-to-normal contact impedance
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