Move mjtConstraint from mjmodel.h to mjdata.h.

PiperOrigin-RevId: 798987338
Change-Id: I3117742de7eb3c16366f266fe0c0651262717cb4

doc/APIreference/APItypes.rst

@@ -328,17 +328,6 @@ MuJoCo object types. These are used, for example, in the support functions :ref:
 .. mujoco-include:: mjtObj
 
 
-.. _mjtConstraint:
-
-mjtConstraint
-~~~~~~~~~~~~~
-
-Constraint types. These values are not used in mjModel, but are used in the mjData field ``d->efc_type`` when the list
-of active constraints is constructed at each simulation time step.
-
-.. mujoco-include:: mjtConstraint
-
-
 .. _mjtSensor:
 
 mjtSensor
@@ -431,6 +420,17 @@ State component elements as integer bitflags and several convenient combinations
 .. mujoco-include:: mjtState
 
 
+.. _mjtConstraint:
+
+mjtConstraint
+~~~~~~~~~~~~~
+
+Constraint types. These values are not used in mjModel, but are used in the mjData field ``d->efc_type`` when the list
+of active constraints is constructed at each simulation time step.
+
+.. mujoco-include:: mjtConstraint
+
+
 .. _mjtConstraintState:
 
 mjtConstraintState

doc/includes/references.h

@@ -41,6 +41,16 @@ typedef enum mjtState_ {          // state elements
                           mjSTATE_USERDATA,
   mjSTATE_INTEGRATION   = mjSTATE_FULLPHYSICS | mjSTATE_USER | mjSTATE_WARMSTART
 } mjtState;
+typedef enum mjtConstraint_ {     // type of constraint
+  mjCNSTR_EQUALITY    = 0,        // equality constraint
+  mjCNSTR_FRICTION_DOF,           // dof friction
+  mjCNSTR_FRICTION_TENDON,        // tendon friction
+  mjCNSTR_LIMIT_JOINT,            // joint limit
+  mjCNSTR_LIMIT_TENDON,           // tendon limit
+  mjCNSTR_CONTACT_FRICTIONLESS,   // frictionless contact
+  mjCNSTR_CONTACT_PYRAMIDAL,      // frictional contact, pyramidal friction cone
+  mjCNSTR_CONTACT_ELLIPTIC        // frictional contact, elliptic friction cone
+} mjtConstraint;
 typedef enum mjtConstraintState_ {  // constraint state
   mjCNSTRSTATE_SATISFIED = 0,       // constraint satisfied, zero cost (limit, contact)
   mjCNSTRSTATE_QUADRATIC,           // quadratic cost (equality, friction, limit, contact)
@@ -639,16 +649,6 @@ typedef enum mjtObj_ {            // type of MujoCo object
   mjOBJ_MODEL                     // entire model
 
 } mjtObj;
-typedef enum mjtConstraint_ {     // type of constraint
-  mjCNSTR_EQUALITY    = 0,        // equality constraint
-  mjCNSTR_FRICTION_DOF,           // dof friction
-  mjCNSTR_FRICTION_TENDON,        // tendon friction
-  mjCNSTR_LIMIT_JOINT,            // joint limit
-  mjCNSTR_LIMIT_TENDON,           // tendon limit
-  mjCNSTR_CONTACT_FRICTIONLESS,   // frictionless contact
-  mjCNSTR_CONTACT_PYRAMIDAL,      // frictional contact, pyramidal friction cone
-  mjCNSTR_CONTACT_ELLIPTIC        // frictional contact, elliptic friction cone
-} mjtConstraint;
 typedef enum mjtSensor_ {         // type of sensor
   // common robotic sensors, attached to a site
   mjSENS_TOUCH        = 0,        // scalar contact normal forces summed over sensor zone

include/mujoco/mjdata.h

@@ -51,6 +51,18 @@ typedef enum mjtState_ {          // state elements
 } mjtState;
 
 
+typedef enum mjtConstraint_ {     // type of constraint
+  mjCNSTR_EQUALITY    = 0,        // equality constraint
+  mjCNSTR_FRICTION_DOF,           // dof friction
+  mjCNSTR_FRICTION_TENDON,        // tendon friction
+  mjCNSTR_LIMIT_JOINT,            // joint limit
+  mjCNSTR_LIMIT_TENDON,           // tendon limit
+  mjCNSTR_CONTACT_FRICTIONLESS,   // frictionless contact
+  mjCNSTR_CONTACT_PYRAMIDAL,      // frictional contact, pyramidal friction cone
+  mjCNSTR_CONTACT_ELLIPTIC        // frictional contact, elliptic friction cone
+} mjtConstraint;
+
+
 typedef enum mjtConstraintState_ {  // constraint state
   mjCNSTRSTATE_SATISFIED = 0,       // constraint satisfied, zero cost (limit, contact)
   mjCNSTRSTATE_QUADRATIC,           // quadratic cost (equality, friction, limit, contact)

include/mujoco/mjmodel.h

@@ -291,18 +291,6 @@ typedef enum mjtObj_ {            // type of MujoCo object
 } mjtObj;
 
 
-typedef enum mjtConstraint_ {     // type of constraint
-  mjCNSTR_EQUALITY    = 0,        // equality constraint
-  mjCNSTR_FRICTION_DOF,           // dof friction
-  mjCNSTR_FRICTION_TENDON,        // tendon friction
-  mjCNSTR_LIMIT_JOINT,            // joint limit
-  mjCNSTR_LIMIT_TENDON,           // tendon limit
-  mjCNSTR_CONTACT_FRICTIONLESS,   // frictionless contact
-  mjCNSTR_CONTACT_PYRAMIDAL,      // frictional contact, pyramidal friction cone
-  mjCNSTR_CONTACT_ELLIPTIC        // frictional contact, elliptic friction cone
-} mjtConstraint;
-
-
 typedef enum mjtSensor_ {         // type of sensor
   // common robotic sensors, attached to a site
   mjSENS_TOUCH        = 0,        // scalar contact normal forces summed over sensor zone

python/mujoco/introspect/enums.py

@@ -312,21 +312,6 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjOBJ_MODEL', 102),
          ]),
      )),
-    ('mjtConstraint',
-     EnumDecl(
-         name='mjtConstraint',
-         declname='enum mjtConstraint_',
-         values=dict([
-             ('mjCNSTR_EQUALITY', 0),
-             ('mjCNSTR_FRICTION_DOF', 1),
-             ('mjCNSTR_FRICTION_TENDON', 2),
-             ('mjCNSTR_LIMIT_JOINT', 3),
-             ('mjCNSTR_LIMIT_TENDON', 4),
-             ('mjCNSTR_CONTACT_FRICTIONLESS', 5),
-             ('mjCNSTR_CONTACT_PYRAMIDAL', 6),
-             ('mjCNSTR_CONTACT_ELLIPTIC', 7),
-         ]),
-     )),
     ('mjtSensor',
      EnumDecl(
          name='mjtSensor',
@@ -501,6 +486,21 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjSTATE_INTEGRATION', 8191),
          ]),
      )),
+    ('mjtConstraint',
+     EnumDecl(
+         name='mjtConstraint',
+         declname='enum mjtConstraint_',
+         values=dict([
+             ('mjCNSTR_EQUALITY', 0),
+             ('mjCNSTR_FRICTION_DOF', 1),
+             ('mjCNSTR_FRICTION_TENDON', 2),
+             ('mjCNSTR_LIMIT_JOINT', 3),
+             ('mjCNSTR_LIMIT_TENDON', 4),
+             ('mjCNSTR_CONTACT_FRICTIONLESS', 5),
+             ('mjCNSTR_CONTACT_PYRAMIDAL', 6),
+             ('mjCNSTR_CONTACT_ELLIPTIC', 7),
+         ]),
+     )),
     ('mjtConstraintState',
      EnumDecl(
          name='mjtConstraintState',

unity/Runtime/Bindings/MjBindings.cs

@@ -115,6 +115,16 @@ public const int mjVERSION_HEADER = 336;
 
 
 // ------------------------------------Enums------------------------------------
+public enum mjtConstraint : int{
+  mjCNSTR_EQUALITY = 0,
+  mjCNSTR_FRICTION_DOF = 1,
+  mjCNSTR_FRICTION_TENDON = 2,
+  mjCNSTR_LIMIT_JOINT = 3,
+  mjCNSTR_LIMIT_TENDON = 4,
+  mjCNSTR_CONTACT_FRICTIONLESS = 5,
+  mjCNSTR_CONTACT_PYRAMIDAL = 6,
+  mjCNSTR_CONTACT_ELLIPTIC = 7,
+}
 public enum mjtConstraintState : int{
   mjCNSTRSTATE_SATISFIED = 0,
   mjCNSTRSTATE_QUADRATIC = 1,
@@ -341,16 +351,6 @@ public enum mjtObj : int{
   mjOBJ_DEFAULT = 101,
   mjOBJ_MODEL = 102,
 }
-public enum mjtConstraint : int{
-  mjCNSTR_EQUALITY = 0,
-  mjCNSTR_FRICTION_DOF = 1,
-  mjCNSTR_FRICTION_TENDON = 2,
-  mjCNSTR_LIMIT_JOINT = 3,
-  mjCNSTR_LIMIT_TENDON = 4,
-  mjCNSTR_CONTACT_FRICTIONLESS = 5,
-  mjCNSTR_CONTACT_PYRAMIDAL = 6,
-  mjCNSTR_CONTACT_ELLIPTIC = 7,
-}
 public enum mjtSensor : int{
   mjSENS_TOUCH = 0,
   mjSENS_ACCELEROMETER = 1,