Remove mj_activate and mj_deactivate.

PiperOrigin-RevId: 538799120
Change-Id: I4d6729131e20ab9ae15c94c221ba83ae5732e942

doc/APIreference/APIfunctions.rst

@@ -23,7 +23,6 @@ API function can be classified as:
 - :ref:`OpenGL rendering<OpenGLrendering>`.
 - :ref:`UI framework<UIframework>`.
 - :ref:`Error and memory<Errorandmemory>`.
-- Deprecated :ref:`activation<Activation>` mechanism.
 - :ref:`Aliases for C standard math<Standardmath>` functions.
 - :ref:`Vector math<Vectormath>`.
 - :ref:`Quaternions<Quaternions>`.

doc/APIreference/functions.rst

@@ -2020,31 +2020,6 @@ mju_writeLog
 
 Write [datetime, type: message] to MUJOCO_LOG.TXT.
 
-.. _Activation:
-
-Activation
-^^^^^^^^^^
-
-The functions in this section are maintained for backward compatibility with the now-removed activation mechanism.
-
-.. _mj_activate:
-
-mj_activate
-~~~~~~~~~~~
-
-.. mujoco-include:: mj_activate
-
-Return 1 (for backward compatibility).
-
-.. _mj_deactivate:
-
-mj_deactivate
-~~~~~~~~~~~~~
-
-.. mujoco-include:: mj_deactivate
-
-Do nothing (for backward compatibility).
-
 .. _Standardmath:
 
 Standard math

doc/changelog.rst

@@ -102,6 +102,8 @@ General
   from the ``mjData`` stack and arena.
 - Removed ``pstack`` and ``parena`` from the output of ``mj_printData``, since these are implementation details of the
   ``mjData`` allocators that are affected by diagnostic paddings in instrumented builds.
+- Removed the ``mj_activate`` and ``mj_deactivate`` functions. These had been kept around for compatibility with old
+  user code from when MuJoCo was closed source, but have been no-op functions since open sourcing.
 
 
 Version 2.3.5 (April 25, 2023)

doc/includes/references.h

@@ -2343,8 +2343,6 @@ void* mju_malloc(size_t size);
 void mju_free(void* ptr);
 void mj_warning(mjData* d, int warning, int info);
 void mju_writeLog(const char* type, const char* msg);
-int mj_activate(const char* filename);
-void mj_deactivate(void);
 void mju_zero3(mjtNum res[3]);
 void mju_copy3(mjtNum res[3], const mjtNum data[3]);
 void mju_scl3(mjtNum res[3], const mjtNum vec[3], mjtNum scl);