Add output attribute to camera elements.

This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.

PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2

python/mujoco/introspect/enums.py

@@ -430,6 +430,19 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjNRAYDATA', 6),
          ]),
      )),
+    ('mjtCamOutBit',
+     EnumDecl(
+         name='mjtCamOutBit',
+         declname='enum mjtCamOutBit_',
+         values=dict([
+             ('mjCAMOUT_RGB', 1),
+             ('mjCAMOUT_DEPTH', 2),
+             ('mjCAMOUT_DIST', 4),
+             ('mjCAMOUT_NORMAL', 8),
+             ('mjCAMOUT_SEG', 16),
+             ('mjNCAMOUT', 5),
+         ]),
+     )),
     ('mjtSameFrame',
      EnumDecl(
          name='mjtSameFrame',

python/mujoco/introspect/structs.py

@@ -2275,6 +2275,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='resolution: pixels [width, height]',
                  array_extent=('ncam', 2),
              ),
+             StructFieldDecl(
+                 name='cam_output',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='output types (mjtCamOut bit flags)',
+                 array_extent=('ncam',),
+             ),
              StructFieldDecl(
                  name='cam_sensorsize',
                  type=PointerType(
@@ -7578,6 +7586,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='resolution (pixel)',
              ),
+             StructFieldDecl(
+                 name='output',
+                 type=ValueType(name='int'),
+                 doc='bit flags for output type',
+             ),
              StructFieldDecl(
                  name='fovy',
                  type=ValueType(name='double'),