Remove control plugin API.

This is a rollback of f937ffd93326b2964e33689b0dc6024124776a9e.

PiperOrigin-RevId: 507456400
Change-Id: I2026510e6065eb440c0c899fcc5a2cc8ff5afd49

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

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_ {

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',

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)) {
+  if (mjcb_control && !mjDISABLED(mjDSBL_ACTUATION)) {
-    // call legacy control callback if specified
+    mjcb_control(m, d);
-    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);
-        }
-      }
-    }
-}
 
   mj_fwdActuation(m, d);
   mj_fwdAcceleration(m, d);

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,