From 9a7f4a768aff625e539f8c50c39ae6a99a7272b5 Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Mon, 6 Feb 2023 05:51:37 -0800
Subject: [PATCH] Remove control plugin API.

This is a rollback of f937ffd93326b2964e33689b0dc6024124776a9e.

PiperOrigin-RevId: 507456400
Change-Id: I2026510e6065eb440c0c899fcc5a2cc8ff5afd49
---
 doc/includes/references.h            |  1 -
 include/mujoco/mjplugin.h            |  1 -
 introspect/enums.py                  |  1 -
 src/engine/engine_forward.c          | 27 +++------------------------
 unity/Runtime/Bindings/MjBindings.cs |  1 -
 5 files changed, 3 insertions(+), 28 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 36eacea6..0fd7e965 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -1154,7 +1154,6 @@ typedef enum mjtPluginCapabilityBit_ {
   mjPLUGIN_ACTUATOR = 1<<0,
   mjPLUGIN_SENSOR   = 1<<1,
   mjPLUGIN_PASSIVE  = 1<<2,
-  mjPLUGIN_CONTROL  = 1<<3,
 } mjtPluginCapabilityBit;
 struct mjpPlugin_ {
   const char* name;     // globally unique name identifying the plugin
diff --git a/include/mujoco/mjplugin.h b/include/mujoco/mjplugin.h
index 0448a71f..315438ed 100644
--- a/include/mujoco/mjplugin.h
+++ b/include/mujoco/mjplugin.h
@@ -24,7 +24,6 @@ typedef enum mjtPluginCapabilityBit_ {
   mjPLUGIN_ACTUATOR = 1<<0,
   mjPLUGIN_SENSOR   = 1<<1,
   mjPLUGIN_PASSIVE  = 1<<2,
-  mjPLUGIN_CONTROL  = 1<<3,
 } mjtPluginCapabilityBit;
 
 struct mjpPlugin_ {
diff --git a/introspect/enums.py b/introspect/enums.py
index 1d6ef75b..f8269715 100755
--- a/introspect/enums.py
+++ b/introspect/enums.py
@@ -558,7 +558,6 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjPLUGIN_ACTUATOR', 1),
              ('mjPLUGIN_SENSOR', 2),
              ('mjPLUGIN_PASSIVE', 4),
-             ('mjPLUGIN_CONTROL', 8),
          ]),
      )),
     ('mjtGridPos',
diff --git a/src/engine/engine_forward.c b/src/engine/engine_forward.c
index 34cbaef9..fd214e2a 100644
--- a/src/engine/engine_forward.c
+++ b/src/engine/engine_forward.c
@@ -775,30 +775,9 @@ void mj_forwardSkip(const mjModel* m, mjData* d, int skipstage, int skipsensor)
   }
 
   // acceleration-dependent
-  if (!mjDISABLED(mjDSBL_ACTUATION)) {
-    // call legacy control callback if specified
-    if (mjcb_control) {
-      mjcb_control(m, d);
-    }
-
-    // handle control plugins
-    if (m->nplugin) {
-      const int nslot = mjp_pluginCount();
-      for (int i=0; i<m->nplugin; i++) {
-        const int slot = m->plugin[i];
-        const mjpPlugin* plugin = mjp_getPluginAtSlotUnsafe(slot, nslot);
-        if (!plugin) {
-          mju_error_i("invalid plugin slot: %d", slot);
-        }
-        if (plugin->capabilityflags & mjPLUGIN_CONTROL) {
-          if (!plugin->compute) {
-            mju_error_i("`compute` is a null function pointer for plugin at slot %d", slot);
-          }
-          plugin->compute(m, d, i, mjPLUGIN_CONTROL);
-        }
-      }
-    }
-}
+  if (mjcb_control && !mjDISABLED(mjDSBL_ACTUATION)) {
+    mjcb_control(m, d);
+  }
 
   mj_fwdActuation(m, d);
   mj_fwdAcceleration(m, d);
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index ffff4ea8..8a563066 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -365,7 +365,6 @@ public enum mjtPluginCapabilityBit : int{
   mjPLUGIN_ACTUATOR = 1,
   mjPLUGIN_SENSOR = 2,
   mjPLUGIN_PASSIVE = 4,
-  mjPLUGIN_CONTROL = 8,
 }
 public enum mjtGridPos : int{
   mjGRID_TOPLEFT = 0,