Store the status of the scene in the scene itself.

PiperOrigin-RevId: 813119377
Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06

Author: haroonq

doc/includes/references.h

@@ -2948,6 +2948,7 @@ struct mjvScene_ {                // abstract scene passed to OpenGL renderer
   // framing
   int      framewidth;            // frame pixel width; 0: disable framing
   float    framergb[3];           // frame color
+  int      status;                // status; 0: ok, 1: geoms exhausted
 };
 typedef struct mjvScene_ mjvScene;
 struct mjvFigure_ {               // abstract 2D figure passed to OpenGL renderer

include/mujoco/mjvisualize.h

@@ -354,6 +354,7 @@ struct mjvScene_ {                // abstract scene passed to OpenGL renderer
   // framing
   int      framewidth;            // frame pixel width; 0: disable framing
   float    framergb[3];           // frame color
+  int      status;                // status; 0: ok, 1: geoms exhausted
 };
 typedef struct mjvScene_ mjvScene;
 

python/mujoco/introspect/structs.py

@@ -7139,6 +7139,11 @@
                  ),
                  doc='frame color',
              ),
+             StructFieldDecl(
+                 name='status',
+                 type=ValueType(name='int'),
+                 doc='status; 0: ok, 1: geoms exhausted',
+             ),
          ),
      )),
     ('mjvFigure',

python/mujoco/structs.cc

@@ -1196,6 +1196,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(scale);
   X(stereo);
   X(framewidth);
+  X(status);
 #undef X
 
 #define X(var) DefinePyArray(mjvScene, #var, &MjvSceneWrapper::var)