Add passive collision mode for flexes.

PiperOrigin-RevId: 801754907
Change-Id: I4147af2ee2596519d42cb9a03cf8d5488f0bc3e8

python/mujoco/introspect/structs.py

@@ -2509,6 +2509,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='number of active element layers, 3D only',
                  array_extent=('nflex',),
              ),
+             StructFieldDecl(
+                 name='flex_passive',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='passive collisions enabled',
+                 array_extent=('nflex',),
+             ),
              StructFieldDecl(
                  name='flex_dim',
                  type=PointerType(
@@ -4878,7 +4886,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='exclude',
                  type=ValueType(name='int'),
-                 doc='0: include, 1: in gap, 2: fused, 3: no dofs',
+                 doc='0: include, 1: in gap, 2: fused, 3: no dofs, 4: passive',
              ),
              StructFieldDecl(
                  name='efc_address',
@@ -9125,6 +9133,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='int'),
                  doc='mode for vertex collision',
              ),
+             StructFieldDecl(
+                 name='passive',
+                 type=ValueType(name='int'),
+                 doc='mode for passive collisions',
+             ),
              StructFieldDecl(
                  name='activelayers',
                  type=ValueType(name='int'),