Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

PiperOrigin-RevId: 916932908
Change-Id: Id23ac39b5cd996afc52990719a4e07c0cc7de600

python/mujoco/introspect/enums.py

@@ -60,7 +60,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjENBL_FWDINV', 4),
              ('mjENBL_INVDISCRETE', 8),
              ('mjENBL_SLEEP', 16),
-             ('mjNENABLE', 5),
+             ('mjENBL_DIAGEXACT', 32),
+             ('mjNENABLE', 6),
          ]),
      )),
     ('mjtJoint',

python/mujoco/introspect/enums_test.py

@@ -43,7 +43,8 @@ class EnumsTest(absltest.TestCase):
                                           ('mjENBL_FWDINV', 1<<2),
                                           ('mjENBL_INVDISCRETE', 1<<3),
                                           ('mjENBL_SLEEP', 1<<4),
-                                          ('mjNENABLE', 5)))
+                                          ('mjENBL_DIAGEXACT', 1<<5),
+                                          ('mjNENABLE', 6)))
 
   # values mostly increment by one with occasional overrides
   def test_mjtGeom(self):  # pylint: disable=invalid-name