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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
+5 -4
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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 :align: right
:target: https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/makemesh.xml :target: https://github.com/google-deepmind/mujoco/blob/main/test/user/testdata/makemesh.xml
:at-val:`hemisphere` (subdivision) :at-val:`hemisphere` (resolution)
Repeated subdivisions of a square-based pyramid. For :math:`s` subdivisions, this mesh Quad-projected hemisphere. For resolution :math:`r`, this mesh has :math:`4r` edges and
has :math:`V = 2 + 2(s+1)(s+2)` vertices and :math:`F = 4(s+1)(s+2)` faces. 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 .. image:: images/XMLreference/c.png
:width: 23% :width: 23%
python/mujoco/specs.cc
+3 -3
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@@ -1025,13 +1025,13 @@ PYBIND11_MODULE(_specs, m) {
py::arg("subdivision")); py::arg("subdivision"));
mjsMesh.def( mjsMesh.def(
"make_hemisphere", "make_hemisphere",
[](raw::MjsMesh* self, int subdivision) { [](raw::MjsMesh* self, int resolution) {
double params[1] = {static_cast<double>(subdivision)}; double params[1] = {static_cast<double>(resolution)};
if (mjs_makeMesh(self, mjMESH_BUILTIN_HEMISPHERE, params, 1)) { if (mjs_makeMesh(self, mjMESH_BUILTIN_HEMISPHERE, params, 1)) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element))); throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
} }
}, },
py::arg("subdivision")); py::arg("resolution"));
mjsMesh.def( mjsMesh.def(
"make_cone", "make_cone",
[](raw::MjsMesh* self, int nedge, double radius) { [](raw::MjsMesh* self, int nedge, double radius) {
python/mujoco/specs_test.py
+1 -1
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@@ -497,7 +497,7 @@ class SpecsTest(absltest.TestCase):
mesh.make_cone(nedge=6, radius=0) mesh.make_cone(nedge=6, radius=0)
mesh = spec.add_mesh(name='hemisphere') mesh = spec.add_mesh(name='hemisphere')
mesh.make_hemisphere(subdivision=4) mesh.make_hemisphere(resolution=4)
mesh = spec.add_mesh(name='sphere') mesh = spec.add_mesh(name='sphere')
mesh.make_sphere(subdivision=2) mesh.make_sphere(subdivision=2)
src/user/user_api.cc
+2 -2
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@@ -513,11 +513,11 @@ int mjs_makeMesh(mjsMesh* mesh, mjtMeshBuiltin builtin, double* params, int npar
} }
int subdiv = static_cast<int>(params[0]); int subdiv = static_cast<int>(params[0]);
if (subdiv < 0) { if (subdiv < 0) {
m->SetError(mjCError(0, "Hemisphere subdivision cannot be negative")); m->SetError(mjCError(0, "Hemisphere resolution cannot be negative"));
return -1; return -1;
} }
if (subdiv > 10) { if (subdiv > 10) {
m->SetError(mjCError(0, "Hemisphere subdivision cannot be greater than 10")); m->SetError(mjCError(0, "Hemisphere resolution cannot be greater than 10"));
return -1; return -1;
} }
meshC->MakeHemisphere(subdiv, /*make_faces*/ true, /*make_cap*/ true); meshC->MakeHemisphere(subdiv, /*make_faces*/ true, /*make_cap*/ true);
src/user/user_mesh.cc
+1 -1
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@@ -2066,7 +2066,7 @@ void mjCMesh::CopyGraph() {
// make a mesh of a hemisphere // make a mesh of a hemisphere (quad projected)
void mjCMesh::MakeHemisphere(int res, bool make_faces, bool make_cap) { void mjCMesh::MakeHemisphere(int res, bool make_faces, bool make_cap) {
constexpr double kNorthPole[3] = {0, 0, 1}; constexpr double kNorthPole[3] = {0, 0, 1};
constexpr double kEquator[4][3] = { constexpr double kEquator[4][3] = {