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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/specs_test.py
+6 -2
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@@ -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()