Remove unused mjOption.apirate.

PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6

doc/XMLreference.rst

@@ -308,13 +308,6 @@ adjust it properly through the XML.
    optimization-related applications, real-time is no longer good enough and instead it is desirable to run the
    simulation as fast as possible. In that case the time step should be made as large as possible.
 
-.. _option-apirate:
-
-:at:`apirate`: :at-val:`real, "100"`
-   This parameter determines the rate (in Hz) at which an external API allows the update function to be executed. This
-   mechanism is used to simulate devices with limited communication bandwidth. It only affects the socket API and not
-   the physics simulation.
-
 .. _option-impratio:
 
 :at:`impratio`: :at-val:`real, "1"`

doc/XMLschema.rst

@@ -10,19 +10,19 @@
 | :ref:`option                       | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
 | <option>`                          |    |                                                                                                                                                                                                                                                                              |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`timestep<option-timestep>`                                | :ref:`apirate<option-apirate>`                                  | :ref:`impratio<option-impratio>`                                | :ref:`tolerance<option-tolerance>`                              | |
+|                                    |    |    | :ref:`timestep<option-timestep>`                                | :ref:`impratio<option-impratio>`                                | :ref:`tolerance<option-tolerance>`                              | :ref:`ls_tolerance<option-ls_tolerance>`                        | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`ls_tolerance<option-ls_tolerance>`                        | :ref:`noslip_tolerance<option-noslip_tolerance>`                | :ref:`ccd_tolerance<option-ccd_tolerance>`                      | :ref:`gravity<option-gravity>`                                  | |
+|                                    |    |    | :ref:`noslip_tolerance<option-noslip_tolerance>`                | :ref:`ccd_tolerance<option-ccd_tolerance>`                      | :ref:`gravity<option-gravity>`                                  | :ref:`wind<option-wind>`                                        | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`wind<option-wind>`                                        | :ref:`magnetic<option-magnetic>`                                | :ref:`density<option-density>`                                  | :ref:`viscosity<option-viscosity>`                              | |
+|                                    |    |    | :ref:`magnetic<option-magnetic>`                                | :ref:`density<option-density>`                                  | :ref:`viscosity<option-viscosity>`                              | :ref:`o_margin<option-o_margin>`                                | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`o_margin<option-o_margin>`                                | :ref:`o_solref<option-o_solref>`                                | :ref:`o_solimp<option-o_solimp>`                                | :ref:`o_friction<option-o_friction>`                            | |
+|                                    |    |    | :ref:`o_solref<option-o_solref>`                                | :ref:`o_solimp<option-o_solimp>`                                | :ref:`o_friction<option-o_friction>`                            | :ref:`integrator<option-integrator>`                            | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`integrator<option-integrator>`                            | :ref:`cone<option-cone>`                                        | :ref:`jacobian<option-jacobian>`                                | :ref:`solver<option-solver>`                                    | |
+|                                    |    |    | :ref:`cone<option-cone>`                                        | :ref:`jacobian<option-jacobian>`                                | :ref:`solver<option-solver>`                                    | :ref:`iterations<option-iterations>`                            | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`iterations<option-iterations>`                            | :ref:`ls_iterations<option-ls_iterations>`                      | :ref:`noslip_iterations<option-noslip_iterations>`              | :ref:`ccd_iterations<option-ccd_iterations>`                    | |
+|                                    |    |    | :ref:`ls_iterations<option-ls_iterations>`                      | :ref:`noslip_iterations<option-noslip_iterations>`              | :ref:`ccd_iterations<option-ccd_iterations>`                    | :ref:`sdf_iterations<option-sdf_iterations>`                    | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
-|                                    |    |    | :ref:`sdf_iterations<option-sdf_iterations>`                    | :ref:`sdf_initpoints<option-sdf_initpoints>`                    | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>`        |                                                                 | |
+|                                    |    |    | :ref:`sdf_initpoints<option-sdf_initpoints>`                    | :ref:`actuatorgroupdisable<option-actuatorgroupdisable>`        |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| option |br| |_| |L|            |    | .. table::                                                                                                                                                                                                                                                                   |

doc/changelog.rst

@@ -23,17 +23,19 @@ General
   limit, are recolored by using the :ref:`constraint impedance<soParameters>` :math:`d` to mix the existing color with
   :ref:`visual/rgba/constraint<visual-rgba-constraint>`. For spatial tendons, this visualization aid is active only if
   no :ref:`material<tendon-spatial-material>` is set and :ref:`rgba<tendon-spatial-rgba>` is default.
-
 - Added :ref:`mju_getXMLDependencies` for computing a list of unique asset dependencies from an MJCF file.
-
 - Added the code sample ``dependencies`` which provides command line utility for printing the result of :ref:`mju_getXMLDependencies`.
 
+.. admonition:: Breaking ABI changes
+   :class: attention
+
+   - The attribute ``mjOption.apirate`` was unused and has been removed.
 
 MJX
 ^^^
-
 - Fix :github:issue:`2508`, ``qLD`` shapes mismatched mjModel during ``get_data_into``.
 
+
 Version 3.3.6 (September 15, 2025)
 ----------------------------------
 

doc/includes/references.h

@@ -800,7 +800,6 @@ typedef struct mjVFS_ mjVFS;
 struct mjOption_ {                // physics options
   // timing parameters
   mjtNum timestep;                // timestep
-  mjtNum apirate;                 // update rate for remote API (Hz)
 
   // solver parameters
   mjtNum impratio;                // ratio of friction-to-normal contact impedance

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

@@ -170,31 +170,6 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   UsdAttribute CreateTimestepAttr(VtValue const& defaultValue = VtValue(),
                                   bool writeSparsely = false) const;
 
- public:
-  // --------------------------------------------------------------------- //
-  // APIRATE
-  // --------------------------------------------------------------------- //
-  /// Determines the rate (in Hz) at which an external API allows
-  /// the update function to be executed.
-  ///
-  /// | ||
-  /// | -- | -- |
-  /// | Declaration | `uniform double mjc:option:apirate = 100` |
-  /// | C++ Type | double |
-  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
-  /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
-  MJCPHYSICS_API
-  UsdAttribute GetApiRateAttr() const;
-
-  /// See GetApiRateAttr(), and also
-  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
-  /// If specified, author \p defaultValue as the attribute's default,
-  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
-  /// the default for \p writeSparsely is \c false.
-  MJCPHYSICS_API
-  UsdAttribute CreateApiRateAttr(VtValue const& defaultValue = VtValue(),
-                                 bool writeSparsely = false) const;
-
  public:
   // --------------------------------------------------------------------- //
   // IMPRATIO

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

@@ -455,10 +455,6 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsSceneAPI
   const TfToken mjcOptionActuatorgroupdisable;
-  /// \brief "mjc:option:apirate"
-  ///
-  /// MjcPhysicsSceneAPI
-  const TfToken mjcOptionApirate;
   /// \brief "mjc:option:ccd_iterations"
   ///
   /// MjcPhysicsSceneAPI

include/mujoco/mjmodel.h

@@ -469,7 +469,6 @@ typedef struct mjVFS_ mjVFS;
 struct mjOption_ {                // physics options
   // timing parameters
   mjtNum timestep;                // timestep
-  mjtNum apirate;                 // update rate for remote API (Hz)
 
   // solver parameters
   mjtNum impratio;                // ratio of friction-to-normal contact impedance

include/mujoco/mjxmacro.h

@@ -21,7 +21,6 @@
 // scalar fields of mjOption
 #define MJOPTION_FLOATS             \
     X( mjtNum,  timestep         )  \
-    X( mjtNum,  apirate          )  \
     X( mjtNum,  impratio         )  \
     X( mjtNum,  tolerance        )  \
     X( mjtNum,  ls_tolerance     )  \

mjx/mujoco/mjx/_src/io_test.py

@@ -173,7 +173,7 @@ class ModelIOTest(parameterized.TestCase):
       self.assertFalse(hasattr(mx, 'bvh_aabb'))
     elif impl == 'c':
       # Options specific to C are populated.
-      self.assertEqual(mx.opt._impl.apirate, m.opt.apirate)
+      self.assertEqual(mx.opt._impl.noslip_iterations, m.opt.noslip_iterations)
       # Fields private to C backend impl are populated.
       self.assertTrue(hasattr(mx._impl, 'bvh_aabb'))
     elif impl == 'warp':

mjx/mujoco/mjx/_src/types.py

@@ -497,7 +497,6 @@ class OptionC(PyTreeNode):
   disableactuator: int
   sdf_initpoints: int
   has_fluid_params: bool
-  apirate: jax.Array
   noslip_tolerance: jax.Array
   ccd_tolerance: jax.Array
   noslip_iterations: int

python/mujoco/introspect/structs.py

@@ -123,11 +123,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='mjtNum'),
                  doc='timestep',
              ),
-             StructFieldDecl(
-                 name='apirate',
-                 type=ValueType(name='mjtNum'),
-                 doc='update rate for remote API (Hz)',
-             ),
              StructFieldDecl(
                  name='impratio',
                  type=ValueType(name='mjtNum'),

simulate/simulate.cc

@@ -707,7 +707,6 @@ void MakePhysicsSection(mj::Simulate* sim) {
     {mjITEM_EDITNUM,   "Noslip Tol",    2, &(opt->noslip_tolerance),  "1 0 1"},
     {mjITEM_EDITINT,   "CCD Iter",      2, &(opt->ccd_iterations),    "1 0 1000"},
     {mjITEM_EDITNUM,   "CCD Tol",       2, &(opt->ccd_tolerance),     "1 0 1"},
-    {mjITEM_EDITNUM,   "API Rate",      2, &(opt->apirate),           "1 0 1000"},
     {mjITEM_EDITINT,   "SDF Iter",      2, &(opt->sdf_iterations),    "1 1 20"},
     {mjITEM_EDITINT,   "SDF Init",      2, &(opt->sdf_initpoints),    "1 1 100"},
     {mjITEM_SEPARATOR, "Physical Parameters", mjPRESERVE},

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",
+    {"option", "*", "26",
-        "timestep", "apirate", "impratio", "tolerance", "ls_tolerance", "noslip_tolerance",
+        "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);

test/experimental/usd/mjcPhysics/mjc_physics_scene_test.cc

@@ -104,7 +104,6 @@ TEST_F(MjcPhysicsSceneTest, TestDefaults) {
   // If this test is failing due to an update of defaults in Mujoco you need to
   // update mjcPhysics/schema.usda.
   EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Timestep, timestep);
-  EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(ApiRate, apirate);
   EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(ImpRatio, impratio);
 
   EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(Wind, wind);

test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc

@@ -724,19 +724,6 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimWind) {
       pxr::GfVec3d(1, 2, 3));
 }
 
-TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimApirate) {
-  auto stage = OpenStage(R"(
-    <mujoco model="test">
-      <option apirate="1.2"> </option>
-    </mujoco>
-  )");
-
-  ExpectAttributeEqual(
-      stage,
-      kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionApirate),
-      1.2);
-}
-
 TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimImpratio) {
   auto stage = OpenStage(R"(
     <mujoco model="test">

unity/Runtime/Bindings/MjBindings.cs

@@ -5089,7 +5089,6 @@ public unsafe struct _mjVFS
 [StructLayout(LayoutKind.Sequential)]
 public unsafe struct mjOption_ {
   public double timestep;
-  public double apirate;
   public double impratio;
   public double tolerance;
   public double ls_tolerance;

unity/Runtime/Components/MjGlobalSettings.cs

@@ -156,7 +156,6 @@ public struct MjSizeStruct {
 public struct MjOptionStruct {
 
   // "timestep" and "gravity" come from global settings.
-  // "apirate" is only relevant to HAPTIX.
   [Tooltip("Ratio of frictional-to-normal constraint impedance.")]
   public float ImpRatio;
   [Tooltip("Global magnetic flux used by magnetometer sensors.")]