Add mjs_makeMesh to create a builtin mesh.

PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52

python/mujoco/introspect/enums.py

@@ -791,6 +791,21 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjMESH_INERTIA_SHELL', 3),
          ]),
      )),
+    ('mjtMeshBuiltin',
+     EnumDecl(
+         name='mjtMeshBuiltin',
+         declname='enum mjtMeshBuiltin_',
+         values=dict([
+             ('mjMESH_BUILTIN_NONE', 0),
+             ('mjMESH_BUILTIN_SPHERE', 1),
+             ('mjMESH_BUILTIN_HEMISPHERE', 2),
+             ('mjMESH_BUILTIN_PRISM', 3),
+             ('mjMESH_BUILTIN_CONE', 4),
+             ('mjMESH_BUILTIN_TORUS', 5),
+             ('mjMESH_BUILTIN_WEDGE', 6),
+             ('mjMESH_BUILTIN_PLATE', 7),
+         ]),
+     )),
     ('mjtBuiltin',
      EnumDecl(
          name='mjtBuiltin',

python/mujoco/introspect/functions.py

@@ -9869,6 +9869,34 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Add material.',
      )),
+    ('mjs_makeMesh',
+     FunctionDecl(
+         name='mjs_makeMesh',
+         return_type=ValueType(name='int'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='mesh',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjsMesh'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='builtin',
+                 type=ValueType(name='mjtMeshBuiltin'),
+             ),
+             FunctionParameterDecl(
+                 name='params',
+                 type=PointerType(
+                     inner_type=ValueType(name='double'),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='nparams',
+                 type=ValueType(name='int'),
+             ),
+         ),
+         doc='Sets the vertices and normals of a mesh.',
+     )),
     ('mjs_getSpec',
      FunctionDecl(
          name='mjs_getSpec',