Remove `mjWARN_VGEOMFULL, handle visual geom buffer full warnings in mjvScene`.

PiperOrigin-RevId: 896483023
Change-Id: I6dde2c20d8e8e229cf95e1f002dd10525d3376e6

python/mujoco/introspect/enums.py

@@ -578,12 +578,11 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjWARN_INERTIA', 0),
              ('mjWARN_CONTACTFULL', 1),
              ('mjWARN_CNSTRFULL', 2),
-             ('mjWARN_VGEOMFULL', 3),
-             ('mjWARN_BADQPOS', 4),
-             ('mjWARN_BADQVEL', 5),
-             ('mjWARN_BADQACC', 6),
-             ('mjWARN_BADCTRL', 7),
-             ('mjNWARNING', 8),
+             ('mjWARN_BADQPOS', 3),
+             ('mjWARN_BADQVEL', 4),
+             ('mjWARN_BADQACC', 5),
+             ('mjWARN_BADCTRL', 6),
+             ('mjNWARNING', 7),
          ]),
      )),
     ('mjtTimer',

python/mujoco/introspect/structs.py

@@ -5416,7 +5416,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  name='warning',
                  type=ArrayType(
                      inner_type=ValueType(name='mjWarningStat'),
-                     extents=(8,),
+                     extents=(7,),
                  ),
                  doc='warning statistics (mutable)',
              ),
@@ -10524,7 +10524,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='status',
                  type=ValueType(name='int'),
-                 doc='status; 0: ok, 1: geoms exhausted',
+                 doc='0: ok, 1: geoms exhausted, warning issued',
              ),
          ),
      )),

python/mujoco/introspect/structs_test.py

@@ -14,8 +14,6 @@
 # ==============================================================================
 """Tests for structs.py."""
 
-import re
-
 from absl.testing import absltest
 
 from . import ast_nodes
@@ -36,7 +34,7 @@ class StructsTest(absltest.TestCase):
       field_names.add(field.name)
       if field.name == 'warning':
         self.assertEqual(field.type,
-                         type_parsing.parse_type('mjWarningStat[8]'))
+                         type_parsing.parse_type('mjWarningStat[7]'))
         self.assertEqual(field.doc, 'warning statistics (mutable)')
       elif field.name == 'qpos':
         self.assertEqual(field.type, type_parsing.parse_type('mjtNum*'))