Add Flex component.

PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5

introspect/enums.py

@@ -90,9 +90,10 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjGEOM_ARROW1', 101),
              ('mjGEOM_ARROW2', 102),
              ('mjGEOM_LINE', 103),
-             ('mjGEOM_SKIN', 104),
-             ('mjGEOM_LABEL', 105),
-             ('mjGEOM_TRIANGLE', 106),
+             ('mjGEOM_FLEX', 104),
+             ('mjGEOM_SKIN', 105),
+             ('mjGEOM_LABEL', 106),
+             ('mjGEOM_TRIANGLE', 107),
              ('mjGEOM_NONE', 1001),
          ]),
      )),
@@ -167,7 +168,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjEQ_WELD', 1),
              ('mjEQ_JOINT', 2),
              ('mjEQ_TENDON', 3),
-             ('mjEQ_DISTANCE', 4),
+             ('mjEQ_FLEX', 4),
+             ('mjEQ_DISTANCE', 5),
          ]),
      )),
     ('mjtWrap',
@@ -246,22 +248,23 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjOBJ_SITE', 6),
              ('mjOBJ_CAMERA', 7),
              ('mjOBJ_LIGHT', 8),
-             ('mjOBJ_MESH', 9),
-             ('mjOBJ_SKIN', 10),
-             ('mjOBJ_HFIELD', 11),
-             ('mjOBJ_TEXTURE', 12),
-             ('mjOBJ_MATERIAL', 13),
-             ('mjOBJ_PAIR', 14),
-             ('mjOBJ_EXCLUDE', 15),
-             ('mjOBJ_EQUALITY', 16),
-             ('mjOBJ_TENDON', 17),
-             ('mjOBJ_ACTUATOR', 18),
-             ('mjOBJ_SENSOR', 19),
-             ('mjOBJ_NUMERIC', 20),
-             ('mjOBJ_TEXT', 21),
-             ('mjOBJ_TUPLE', 22),
-             ('mjOBJ_KEY', 23),
-             ('mjOBJ_PLUGIN', 24),
+             ('mjOBJ_FLEX', 9),
+             ('mjOBJ_MESH', 10),
+             ('mjOBJ_SKIN', 11),
+             ('mjOBJ_HFIELD', 12),
+             ('mjOBJ_TEXTURE', 13),
+             ('mjOBJ_MATERIAL', 14),
+             ('mjOBJ_PAIR', 15),
+             ('mjOBJ_EXCLUDE', 16),
+             ('mjOBJ_EQUALITY', 17),
+             ('mjOBJ_TENDON', 18),
+             ('mjOBJ_ACTUATOR', 19),
+             ('mjOBJ_SENSOR', 20),
+             ('mjOBJ_NUMERIC', 21),
+             ('mjOBJ_TEXT', 22),
+             ('mjOBJ_TUPLE', 23),
+             ('mjOBJ_KEY', 24),
+             ('mjOBJ_PLUGIN', 25),
          ]),
      )),
     ('mjtConstraint',
@@ -371,6 +374,18 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjLRMODE_ALL', 3),
          ]),
      )),
+    ('mjtFlexSelf',
+     EnumDecl(
+         name='mjtFlexSelf',
+         declname='enum mjtFlexSelf_',
+         values=dict([
+             ('mjFLEXSELF_NONE', 0),
+             ('mjFLEXSELF_NARROW', 1),
+             ('mjFLEXSELF_BVH', 2),
+             ('mjFLEXSELF_SAP', 3),
+             ('mjFLEXSELF_AUTO', 4),
+         ]),
+     )),
     ('mjtTaskStatus',
      EnumDecl(
          name='mjtTaskStatus',
@@ -506,13 +521,14 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjLABEL_TENDON', 7),
              ('mjLABEL_ACTUATOR', 8),
              ('mjLABEL_CONSTRAINT', 9),
-             ('mjLABEL_SKIN', 10),
-             ('mjLABEL_SELECTION', 11),
-             ('mjLABEL_SELPNT', 12),
-             ('mjLABEL_CONTACTPOINT', 13),
-             ('mjLABEL_CONTACTFORCE', 14),
-             ('mjLABEL_ISLAND', 15),
-             ('mjNLABEL', 16),
+             ('mjLABEL_FLEX', 10),
+             ('mjLABEL_SKIN', 11),
+             ('mjLABEL_SELECTION', 12),
+             ('mjLABEL_SELPNT', 13),
+             ('mjLABEL_CONTACTPOINT', 14),
+             ('mjLABEL_CONTACTFORCE', 15),
+             ('mjLABEL_ISLAND', 16),
+             ('mjNLABEL', 17),
          ]),
      )),
     ('mjtFrame',
@@ -560,10 +576,15 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjVIS_SELECT', 21),
              ('mjVIS_STATIC', 22),
              ('mjVIS_SKIN', 23),
-             ('mjVIS_MIDPHASE', 24),
-             ('mjVIS_MESHBVH', 25),
-             ('mjVIS_SDFITER', 26),
-             ('mjNVISFLAG', 27),
+             ('mjVIS_FLEXVERT', 24),
+             ('mjVIS_FLEXEDGE', 25),
+             ('mjVIS_FLEXFACE', 26),
+             ('mjVIS_FLEXSKIN', 27),
+             ('mjVIS_BODYBVH', 28),
+             ('mjVIS_FLEXBVH', 29),
+             ('mjVIS_MESHBVH', 30),
+             ('mjVIS_SDFITER', 31),
+             ('mjNVISFLAG', 32),
          ]),
      )),
     ('mjtRndFlag',

introspect/enums_test.py

@@ -61,7 +61,7 @@ class EnumsTest(absltest.TestCase):
     self.assertEqual(enum_decl.values['mjGEOM_ARROW'], 100)
     self.assertEqual(enum_decl.values['mjGEOM_ARROW1'], 101)
     self.assertEqual(enum_decl.values['mjGEOM_ARROW2'], 102)
-    self.assertEqual(enum_decl.values['mjGEOM_TRIANGLE'], 106)
+    self.assertEqual(enum_decl.values['mjGEOM_TRIANGLE'], 107)
     # Skip a few...
 
     self.assertEqual(enum_decl.values['mjGEOM_NONE'], 1001)

introspect/functions.py

@@ -1456,6 +1456,26 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Compute camera and light positions and orientations.',
      )),
+    ('mj_flex',
+     FunctionDecl(
+         name='mj_flex',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData'),
+                 ),
+             ),
+         ),
+         doc='Compute flex-related quantities.',
+     )),
     ('mj_tendon',
      FunctionDecl(
          name='mj_tendon',
@@ -3161,6 +3181,69 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Intersect ray with pure geom, return nearest distance or -1 if no intersection.',  # pylint: disable=line-too-long
      )),
+    ('mju_rayFlex',
+     FunctionDecl(
+         name='mju_rayFlex',
+         return_type=ValueType(name='mjtNum'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='m',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='d',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='flex_layer',
+                 type=ValueType(name='int'),
+             ),
+             FunctionParameterDecl(
+                 name='flg_vert',
+                 type=ValueType(name='mjtByte'),
+             ),
+             FunctionParameterDecl(
+                 name='flg_edge',
+                 type=ValueType(name='mjtByte'),
+             ),
+             FunctionParameterDecl(
+                 name='flg_face',
+                 type=ValueType(name='mjtByte'),
+             ),
+             FunctionParameterDecl(
+                 name='flg_skin',
+                 type=ValueType(name='mjtByte'),
+             ),
+             FunctionParameterDecl(
+                 name='flexid',
+                 type=ValueType(name='int'),
+             ),
+             FunctionParameterDecl(
+                 name='pnt',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='vec',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='vertid',
+                 type=ArrayType(
+                     inner_type=ValueType(name='int'),
+                     extents=(1,),
+                 ),
+             ),
+         ),
+         doc='Intersect ray with flex, return nearest distance or -1 if no intersection, and also output nearest vertex id.',  # pylint: disable=line-too-long
+     )),
     ('mju_raySkin',
      FunctionDecl(
          name='mju_raySkin',
@@ -3815,6 +3898,13 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                      extents=(1,),
                  ),
              ),
+             FunctionParameterDecl(
+                 name='flexid',
+                 type=ArrayType(
+                     inner_type=ValueType(name='int'),
+                     extents=(1,),
+                 ),
+             ),
              FunctionParameterDecl(
                  name='skinid',
                  type=ArrayType(
@@ -3823,7 +3913,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  ),
              ),
          ),
-         doc='Select geom or skin with mouse, return bodyid; -1: none selected.',  # pylint: disable=line-too-long
+         doc='Select geom, flex or skin with mouse, return bodyid; -1: none selected.',  # pylint: disable=line-too-long
      )),
     ('mjv_defaultOption',
      FunctionDecl(