Add a number of missing struct fields to Python bindings.

It is quite possible that there are a few other fields still missing since we currently do not yet have automated testing of struct field existence.

Fixes #747.

PiperOrigin-RevId: 517189048
Change-Id: I7c1d95e700eaea05aaa3cde1fd05e1a259553117

doc/changelog.rst

@@ -48,9 +48,10 @@ Python bindings
 
 - Fixed IPython history corruption when using ``launch_repl``. The ``launch_repl`` function now provides seamless
   continuation of an IPython interactive shell session, and is no longer considered experimental feature.
-- Remove ``efc_`` fields from joint indexers. Since the introduction of arena memory, these fields now have dynamic
+- Removed ``efc_`` fields from joint indexers. Since the introduction of arena memory, these fields now have dynamic
   sizes that change between time steps depending on the number of active constraints, breaking strict correspondence
   between joints and ``efc_`` rows.
+- Added a number of missing fields to the bindings of ``mjVisual`` and ``mjvPerturb`` structs.
 
 Simulate
 ^^^^^^^^

python/mujoco/structs.cc

@@ -983,6 +983,7 @@ MjvPerturbWrapper::MjWrapper()
       }()),
       X(refpos),
       X(refquat),
+      X(refselpos),
       X(localpos) {}
 #undef X
 
@@ -1299,8 +1300,11 @@ PYBIND11_MODULE(_structs, m) {
 #define X(var) mjVisualGlobal.def_readwrite(#var, &raw::MjVisualGlobal::var)
   X(fovy);
   X(ipd);
+  X(azimuth);
+  X(elevation);
   X(linewidth);
   X(glow);
+  X(realtime);
   X(offwidth);
   X(offheight);
 #undef X
@@ -1966,11 +1970,14 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(skinselect);
   X(active);
   X(active2);
+  X(localmass);
+  X(scale);
 #undef X
 
 #define X(var) DefinePyArray(mjvPerturb, #var, &MjvPerturbWrapper::var)
   X(refpos);
   X(refquat);
+  X(refselpos);
   X(localpos);
 #undef X
 

python/mujoco/structs.h

@@ -611,6 +611,7 @@ class MjWrapper<raw::MjvPerturb> : public WrapperBase<raw::MjvPerturb> {
   #define X(var) py_array_or_tuple_t<mjtNum> var
   X(refpos);
   X(refquat);
+  X(refselpos);
   X(localpos);
   #undef X
 };