Remove unused mjOption.apirate.

PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6

src/engine/engine_init.c

@@ -54,7 +54,6 @@ void mj_defaultOption(mjOption* opt) {
 
   // timing parameters
   opt->timestep           = 0.002;
-  opt->apirate            = 100;
 
   // solver parameters
   opt->impratio           = 1;

src/experimental/studio/app.cc

@@ -1364,7 +1364,6 @@ void App::PhysicsGui() {
     ImGui_Input("Noslip Tol", &opt.noslip_tolerance, {0, 1, 0.01, 0.1, w});
     ImGui_Input("CCD Iter", &opt.ccd_iterations, {0, 1000, 1, 100, w});
     ImGui_Input("CCD Tol", &opt.ccd_tolerance, {0, 1, 0.01, 0.1, w});
-    ImGui_Input("API Rate", &opt.apirate, {0, 1000, 1, 100, w});
     ImGui_Input("SDF Iter", &opt.sdf_iterations, {1, 20, 1, 10, w});
     ImGui_Input("SDF Init", &opt.sdf_initpoints, {1, 100, 1, 10, w});
     ImGui::TreePop();

src/experimental/usd/mjcPhysics/generatedSchema.usda

@@ -170,11 +170,6 @@ class "MjcSceneAPI" (
         displayName = "Actuator Group Disable"
         doc = "List of actuator groups to disable."
     )
-    uniform double mjc:option:apirate = 100 (
-        displayName = "ApiRate"
-        doc = """Determines the rate (in Hz) at which an external API allows
-        the update function to be executed."""
-    )
     uniform int mjc:option:ccd_iterations = 35 (
         displayName = "CCD Iterations"
         doc = "Maximum number of iterations of the algorithm used for convex collisions."

src/experimental/usd/mjcPhysics/sceneAPI.cpp

@@ -85,17 +85,6 @@ UsdAttribute MjcPhysicsSceneAPI::CreateTimestepAttr(VtValue const& defaultValue,
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
-UsdAttribute MjcPhysicsSceneAPI::GetApiRateAttr() const {
-  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionApirate);
-}
-
-UsdAttribute MjcPhysicsSceneAPI::CreateApiRateAttr(VtValue const& defaultValue,
-                                                   bool writeSparsely) const {
-  return UsdSchemaBase::_CreateAttr(
-      MjcPhysicsTokens->mjcOptionApirate, SdfValueTypeNames->Double,
-      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
-}
-
 UsdAttribute MjcPhysicsSceneAPI::GetImpRatioAttr() const {
   return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionImpratio);
 }
@@ -798,7 +787,6 @@ const TfTokenVector& MjcPhysicsSceneAPI::GetSchemaAttributeNames(
     bool includeInherited) {
   static TfTokenVector localNames = {
       MjcPhysicsTokens->mjcOptionTimestep,
-      MjcPhysicsTokens->mjcOptionApirate,
       MjcPhysicsTokens->mjcOptionImpratio,
       MjcPhysicsTokens->mjcOptionWind,
       MjcPhysicsTokens->mjcOptionMagnetic,

src/experimental/usd/mjcPhysics/schema.usda

@@ -111,15 +111,6 @@ class "MjcSceneAPI"
         doc = """Controls the timestep in seconds used by MuJoCo."""
     )
 
-    uniform double mjc:option:apirate = 100 (
-        customData = {
-            string apiName = "ApiRate"
-        }
-        displayName = "ApiRate"
-        doc = """Determines the rate (in Hz) at which an external API allows
-        the update function to be executed."""
-    )
-
     uniform double mjc:option:impratio = 1.0 (
         customData = {
             string apiName = "ImpRatio"

src/experimental/usd/mjcPhysics/tokens.cpp

@@ -118,7 +118,6 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcMquat("mjc:mquat", TfToken::Immortal),
       mjcOptionActuatorgroupdisable("mjc:option:actuatorgroupdisable",
                                     TfToken::Immortal),
-      mjcOptionApirate("mjc:option:apirate", TfToken::Immortal),
       mjcOptionCcd_iterations("mjc:option:ccd_iterations", TfToken::Immortal),
       mjcOptionCcd_tolerance("mjc:option:ccd_tolerance", TfToken::Immortal),
       mjcOptionCone("mjc:option:cone", TfToken::Immortal),
@@ -281,7 +280,6 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcMpos,
                  mjcMquat,
                  mjcOptionActuatorgroupdisable,
-                 mjcOptionApirate,
                  mjcOptionCcd_iterations,
                  mjcOptionCcd_tolerance,
                  mjcOptionCone,

src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc

@@ -500,7 +500,6 @@ class ModelWriter {
              spec_->option.noslip_tolerance},
             {MjcPhysicsTokens->mjcOptionCcd_tolerance,
              spec_->option.ccd_tolerance},
-            {MjcPhysicsTokens->mjcOptionApirate, spec_->option.apirate},
             {MjcPhysicsTokens->mjcOptionImpratio, spec_->option.impratio},
             {MjcPhysicsTokens->mjcOptionDensity, spec_->option.density},
             {MjcPhysicsTokens->mjcOptionViscosity, spec_->option.viscosity},

src/experimental/usd/usd_to_mjspec.cc

@@ -445,10 +445,6 @@ void ParseUsdPhysicsScene(mjSpec* spec,
   mjc_physics_scene.GetTimestepAttr().Get(&timestep);
   spec->option.timestep = timestep;
 
-  double apirate;
-  mjc_physics_scene.GetApiRateAttr().Get(&apirate);
-  spec->option.apirate = apirate;
-
   double impratio;
   mjc_physics_scene.GetImpRatioAttr().Get(&impratio);
   spec->option.impratio = impratio;

src/xml/xml_native_reader.cc

@@ -110,8 +110,8 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
             "inttotal", "interval", "tolrange"},
     {">"},
 
-    {"option", "*", "27",
-        "timestep", "apirate", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
+    {"option", "*", "26",
+        "timestep", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
         "ccd_tolerance", "gravity", "wind", "magnetic", "density", "viscosity",
         "o_margin", "o_solref", "o_solimp", "o_friction",
         "integrator", "cone", "jacobian",
@@ -1130,7 +1130,6 @@ void mjXReader::Option(XMLElement* section, mjOption* opt) {
 
   // read options
   ReadAttr(section, "timestep", 1, &opt->timestep, text);
-  ReadAttr(section, "apirate", 1, &opt->apirate, text);
   ReadAttr(section, "impratio", 1, &opt->impratio, text);
   ReadAttr(section, "tolerance", 1, &opt->tolerance, text);
   ReadAttr(section, "ls_tolerance", 1, &opt->ls_tolerance, text);

src/xml/xml_native_writer.cc

@@ -990,7 +990,6 @@ void mjXWriter::Option(XMLElement* root) {
 
   // option
   WriteAttr(section, "timestep", 1, &model->option.timestep, &opt.timestep);
-  WriteAttr(section, "apirate", 1, &model->option.apirate, &opt.apirate);
   WriteAttr(section, "impratio", 1, &model->option.impratio, &opt.impratio);
   WriteAttr(section, "tolerance", 1, &model->option.tolerance, &opt.tolerance);
   WriteAttr(section, "ls_tolerance", 1, &model->option.ls_tolerance, &opt.ls_tolerance);