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Improve builtin hemisphere docs

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PiperOrigin-RevId: 791271829
Change-Id: I391215b5388f4e9e2a17198dbcdbd0c605fda4b4
This commit is contained in:
Yuval Tassa
2025-08-05 10:24:45 -07:00
committed by Copybara-Service
parent fde479736e
commit 784c7a419b
5 changed files with 12 additions and 11 deletions
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doc/XMLreference.rst
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@@ -1347,11 +1347,12 @@ The full list of processing steps applied by the compiler to each mesh is as fol
:align: right
:target: https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/makemesh.xml
:at-val:`hemisphere` (subdivision)
Repeated subdivisions of a square-based pyramid. For :math:`s` subdivisions, this mesh
has :math:`V = 2 + 2(s+1)(s+2)` vertices and :math:`F = 4(s+1)(s+2)` faces.
:at-val:`hemisphere` (resolution)
Quad-projected hemisphere. For resolution :math:`r`, this mesh has :math:`4r` edges and
vertices on the equator and a total of :math:`V = 2 + 2(r+1)(r+2)` vertices and
:math:`F = 4(r+1)(r+2)` faces.
**subdivision**: integer in [0-10]: The number of subdivisions to apply to the pyramid.
**resolution**: integer in [0-10]: Equator discretization of one hemisphere quadrant.
.. image:: images/XMLreference/c.png
:width: 23%