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Adds built-in superellipsoid mesh.

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PiperOrigin-RevId: 791196831
Change-Id: I1d864f6e620870f016377a4d9e2e26d1a23fd77e
This commit is contained in:
Yuval Tassa
2025-08-05 07:01:52 -07:00
committed by Copybara-Service
parent e74cee652f
commit 705ec6d7fb
12 changed files with 253 additions and 137 deletions
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python/mujoco/introspect/enums.py
+4 -3
View File
@@ -801,9 +801,10 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjMESH_BUILTIN_SPHERE', 1),
('mjMESH_BUILTIN_HEMISPHERE', 2),
('mjMESH_BUILTIN_CONE', 3),
('mjMESH_BUILTIN_SUPERTORUS', 4),
('mjMESH_BUILTIN_WEDGE', 5),
('mjMESH_BUILTIN_PLATE', 6),
('mjMESH_BUILTIN_SUPERSPHERE', 4),
('mjMESH_BUILTIN_SUPERTORUS', 5),
('mjMESH_BUILTIN_WEDGE', 6),
('mjMESH_BUILTIN_PLATE', 7),
]),
)),
('mjtBuiltin',
python/mujoco/specs.cc
+9
View File
@@ -1041,6 +1041,15 @@ PYBIND11_MODULE(_specs, m) {
}
},
py::arg("nedge"), py::arg("radius"));
mjsMesh.def(
"make_supersphere",
[](raw::MjsMesh* self, int resolution, double e, double n) {
double params[3] = {static_cast<double>(resolution), e, n};
if (mjs_makeMesh(self, mjMESH_BUILTIN_SUPERSPHERE, params, 3)) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
}
},
py::arg("resolution"), py::arg("e"), py::arg("n"));
mjsMesh.def(
"make_supertorus",
[](raw::MjsMesh* self, int resolution, double radius, double s,
python/mujoco/specs_test.py
+6 -2
View File
@@ -502,17 +502,21 @@ class SpecsTest(absltest.TestCase):
mesh = spec.add_mesh(name='sphere')
mesh.make_sphere(subdivision=2)
mesh = spec.add_mesh(name='supertoroid')
mesh = spec.add_mesh(name='supertorus')
mesh.make_supertorus(resolution=10, radius=0.5, s=1, t=1)
mesh = spec.add_mesh(name='supersphere')
mesh.make_supersphere(resolution=20, e=2, n=1)
model = spec.compile()
self.assertEqual(model.nmesh, 6)
self.assertEqual(model.nmesh, 7)
self.assertEqual(model.mesh_vertnum[0], 25 * 25)
self.assertEqual(model.mesh_vertnum[1], 10)
self.assertEqual(model.mesh_vertnum[2], 7)
self.assertEqual(model.mesh_vertnum[3], 2 * (4 + 1) * (4 + 2) + 2)
self.assertEqual(model.mesh_vertnum[4], 2 + 10 * 4**2)
self.assertEqual(model.mesh_vertnum[5], 100)
self.assertEqual(model.mesh_vertnum[6], 20 * (20 -1) + 2)
def test_compile_errors_with_line_info(self):
spec = mujoco.MjSpec()