Couple of things:
1. You don't want to usually add anything in environment.rb to load something from plugin, if plugin wants to load some controller it must load itself. Its been awhile since I have used rails2, but you can try:
in your plugin's init.rb:
$LOAD_PATH << File.join(File.dirname(__FILE__),"app")
and ensure that your controller is in, "app/controllers" directory of plugin.
also make sure that, each controller loaded via plugin is marked unloadable.
2. vendor/sample/config/routes.rb is loaded because that is standard rails default.
cheers and let us know, if it works! (Don't have a rails 2 install to try, sorry).