Add mjNOBJECT value to mjtObj enum.

PiperOrigin-RevId: 590164716 Change-Id: I500741aa4fb97fe2c4f5d2086188bb2c9fdfd1a0
google-deepmind · Dec 12, 2023 · 28a9e6d · 28a9e6d
1 parent 64c33ce
commit 28a9e6d
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Showing 5 changed files with 10 additions and 2 deletions.
diff --git a/doc/includes/references.h b/doc/includes/references.h
@@ -570,7 +570,9 @@ typedef enum mjtObj_ {            // type of MujoCo object
   mjOBJ_TEXT,                     // text
   mjOBJ_TUPLE,                    // tuple
   mjOBJ_KEY,                      // keyframe
-  mjOBJ_PLUGIN                    // plugin instance
+  mjOBJ_PLUGIN,                   // plugin instance
+
+  mjNOBJECT                       // number of object types
 } mjtObj;
 typedef enum mjtConstraint_ {     // type of constraint
   mjCNSTR_EQUALITY    = 0,        // equality constraint

diff --git a/include/mujoco/mjmodel.h b/include/mujoco/mjmodel.h
@@ -246,7 +246,9 @@ typedef enum mjtObj_ {            // type of MujoCo object
   mjOBJ_TEXT,                     // text
   mjOBJ_TUPLE,                    // tuple
   mjOBJ_KEY,                      // keyframe
-  mjOBJ_PLUGIN                    // plugin instance
+  mjOBJ_PLUGIN,                   // plugin instance
+
+  mjNOBJECT                       // number of object types
 } mjtObj;
 
 

diff --git a/introspect/enums.py b/introspect/enums.py
@@ -265,6 +265,7 @@
              ('mjOBJ_TUPLE', 23),
              ('mjOBJ_KEY', 24),
              ('mjOBJ_PLUGIN', 25),
+             ('mjNOBJECT', 26),
          ]),
      )),
     ('mjtConstraint',

diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
@@ -1858,6 +1858,8 @@ static int numObjects(const mjModel* m, mjtObj objtype) {
     return m->nkey;
   case mjOBJ_PLUGIN:
     return m->nplugin;
+  case mjNOBJECT:
+    return -2;
   }
   return -2;
 }

diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
@@ -301,6 +301,7 @@ public enum mjtObj : int{
   mjOBJ_TUPLE = 23,
   mjOBJ_KEY = 24,
   mjOBJ_PLUGIN = 25,
+  mjNOBJECT = 26,
 }
 public enum mjtConstraint : int{
   mjCNSTR_EQUALITY = 0,