Replace mjs_setActivePlugins with mjs_activatePlugin.

PiperOrigin-RevId: 680613007
Change-Id: Ic03e0dc42a1f5f083e313672bc6e3ccebadc58b3

doc/APIreference/functions.rst

@@ -1509,6 +1509,15 @@ mj_deleteSpec
 
 Free memory allocation in mjSpec.
 
+.. _mjs_activatePlugin:
+
+mjs_activatePlugin
+~~~~~~~~~~~~~~~~~~
+
+.. mujoco-include:: mjs_activatePlugin
+
+Activate plugin, return slot number.
+
 .. _Errorandmemory:
 
 Error and memory
@@ -4354,15 +4363,6 @@ Get double array contents and optionally its size.
 
 Spec utilities
 ^^^^^^^^^^^^^^
-.. _mjs_setActivePlugins:
-
-mjs_setActivePlugins
-~~~~~~~~~~~~~~~~~~~~
-
-.. mujoco-include:: mjs_setActivePlugins
-
-Set active plugins.
-
 .. _mjs_setDefault:
 
 mjs_setDefault

doc/changelog.rst

@@ -12,6 +12,7 @@ General
   example model <https://github.com/google-deepmind/mujoco/blob/main/model/flex/floppy.xml>`__ and `2D example model
   <https://github.com/google-deepmind/mujoco/blob/main/src/model/trampoline.xml>`__ for examples of flex objects
   that previously required these plugins.
+- Replaced the function ``mjs_setActivePlugins`` with :ref:`mjs_activatePlugin`.
 
 Bug fixes
 ^^^^^^^^^

doc/includes/references.h

@@ -3171,6 +3171,7 @@ int mj_setLengthRange(mjModel* m, mjData* d, int index,
 mjSpec* mj_makeSpec(void);
 mjSpec* mj_copySpec(const mjSpec* s);
 void mj_deleteSpec(mjSpec* s);
+int mjs_activatePlugin(mjSpec* s, const char* name);
 void mj_printFormattedModel(const mjModel* m, const char* filename, const char* float_format);
 void mj_printModel(const mjModel* m, const char* filename);
 void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
@@ -3614,7 +3615,6 @@ void mjs_setDouble(mjDoubleVec* dest, const double* array, int size);
 void mjs_setPluginAttributes(mjsPlugin* plugin, void* attributes);
 const char* mjs_getString(const mjString* source);
 const double* mjs_getDouble(const mjDoubleVec* source, int* size);
-void mjs_setActivePlugins(mjSpec* s, void* activeplugins);
 void mjs_setDefault(mjsElement* element, mjsDefault* def);
 void mjs_setFrame(mjsElement* dest, mjsFrame* frame);
 const char* mjs_resolveOrientation(double quat[4], mjtByte degree, const char* sequence,