Add invdiscrete flag to enable discrete-time inverse dynamics with mj_inverse.

PiperOrigin-RevId: 560161140
Change-Id: If3e30be5e9af4982571dd310172f2fc0d8d1c551

introspect/enums.py

@@ -53,10 +53,11 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjENBL_OVERRIDE', 1),
              ('mjENBL_ENERGY', 2),
              ('mjENBL_FWDINV', 4),
-             ('mjENBL_SENSORNOISE', 8),
-             ('mjENBL_MULTICCD', 16),
-             ('mjENBL_ISLAND', 32),
-             ('mjNENABLE', 6),
+             ('mjENBL_INVDISCRETE', 8),
+             ('mjENBL_SENSORNOISE', 16),
+             ('mjENBL_MULTICCD', 32),
+             ('mjENBL_ISLAND', 64),
+             ('mjNENABLE', 7),
          ]),
      )),
     ('mjtJoint',

introspect/enums_test.py

@@ -41,10 +41,11 @@ class EnumsTest(absltest.TestCase):
         tuple(enum_decl.values.items()), (('mjENBL_OVERRIDE', 1<<0),
                                           ('mjENBL_ENERGY', 1<<1),
                                           ('mjENBL_FWDINV', 1<<2),
-                                          ('mjENBL_SENSORNOISE', 1<<3),
-                                          ('mjENBL_MULTICCD', 1<<4),
-                                          ('mjENBL_ISLAND', 1<<5),
-                                          ('mjNENABLE', 6)))
+                                          ('mjENBL_INVDISCRETE', 1<<3),
+                                          ('mjENBL_SENSORNOISE', 1<<4),
+                                          ('mjENBL_MULTICCD', 1<<5),
+                                          ('mjENBL_ISLAND', 1<<6),
+                                          ('mjNENABLE', 7)))
 
   # values mostly increment by one with occasional overrides
   def test_mjtGeom(self):  # pylint: disable=invalid-name