Add mjtSameFrame enum to specify frame alignment of bodies with their children.

PiperOrigin-RevId: 666303674
Change-Id: I53dc56e1ca52afa280ae5abaf4158edc465fb1e0

introspect/enums.py

@@ -388,6 +388,16 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjDATATYPE_QUATERNION', 3),
          ]),
      )),
+    ('mjtSameFrame',
+     EnumDecl(
+         name='mjtSameFrame',
+         declname='enum mjtSameFrame_',
+         values=dict([
+             ('mjSAMEFRAME_NONE', 0),
+             ('mjSAMEFRAME_BODY', 1),
+             ('mjSAMEFRAME_INERTIA', 2),
+         ]),
+     )),
     ('mjtLRMode',
      EnumDecl(
          name='mjtLRMode',

introspect/functions.py

@@ -3168,7 +3168,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
                  type=ValueType(name='mjtByte'),
              ),
          ),
-         doc='Map from body local to global Cartesian coordinates.',
+         doc='Map from body local to global Cartesian coordinates, sameframe takes values from mjtSameFrame.',  # pylint: disable=line-too-long
      )),
     ('mj_getTotalmass',
      FunctionDecl(

introspect/structs.py

@@ -1343,7 +1343,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtByte'),
                  ),
-                 doc='inertial frame is same as body frame     (nbody x 1)',
+                 doc='same frame as inertia (mjtSameframe)     (nbody x 1)',
              ),
              StructFieldDecl(
                  name='body_pos',
@@ -1770,7 +1770,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtByte'),
                  ),
-                 doc='same as body frame (1) or iframe (2)     (ngeom x 1)',
+                 doc='same frame as body (mjtSameframe)        (ngeom x 1)',
              ),
              StructFieldDecl(
                  name='geom_solmix',
@@ -1903,7 +1903,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='mjtByte'),
                  ),
-                 doc='same as body frame (1) or iframe (2)     (nsite x 1)',
+                 doc='same frame as body (mjtSameframe)        (nsite x 1)',
              ),
              StructFieldDecl(
                  name='site_size',