Add Signed Distance Field to collision geometries.

PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9

introspect/enums.py

@@ -82,7 +82,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjGEOM_CYLINDER', 5),
              ('mjGEOM_BOX', 6),
              ('mjGEOM_MESH', 7),
-             ('mjNGEOMTYPES', 8),
+             ('mjGEOM_SDF', 8),
+             ('mjNGEOMTYPES', 9),
              ('mjGEOM_ARROW', 100),
              ('mjGEOM_ARROW1', 101),
              ('mjGEOM_ARROW2', 102),
@@ -553,7 +554,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjVIS_SKIN', 23),
              ('mjVIS_MIDPHASE', 24),
              ('mjVIS_MESHBVH', 25),
-             ('mjNVISFLAG', 26),
+             ('mjVIS_SDFITER', 26),
+             ('mjNVISFLAG', 27),
          ]),
      )),
     ('mjtRndFlag',
@@ -592,6 +594,7 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjPLUGIN_ACTUATOR', 1),
              ('mjPLUGIN_SENSOR', 2),
              ('mjPLUGIN_PASSIVE', 4),
+             ('mjPLUGIN_SDF', 8),
          ]),
      )),
     ('mjtGridPos',

introspect/structs.py

@@ -263,6 +263,16 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='int'),
                  doc='bit flags for enabling optional features',
              ),
+             StructFieldDecl(
+                 name='sdf_initpoints',
+                 type=ValueType(name='int'),
+                 doc='number of starting points for gradient descent',
+             ),
+             StructFieldDecl(
+                 name='sdf_iterations',
+                 type=ValueType(name='int'),
+                 doc='max number of iterations for gradient descent',
+             ),
          ),
      )),
     ('mjVisual',
@@ -1627,6 +1637,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='geom contact priority                    (ngeom x 1)',
              ),
+             StructFieldDecl(
+                 name='geom_plugin',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='plugin instance id; -1: not in use       (ngeom x 1)',
+             ),
              StructFieldDecl(
                  name='geom_sameframe',
                  type=PointerType(
@@ -4874,7 +4891,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  name='flags',
                  type=ArrayType(
                      inner_type=ValueType(name='mjtByte'),
-                     extents=(26,),
+                     extents=(27,),
                  ),
                  doc='visualization flags (indexed by mjtVisFlag)',
              ),