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Add mjs_makeMesh to create a builtin mesh.

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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
This commit is contained in:
Alessio Quaglino
2025-07-29 11:30:19 -07:00
committed by Copybara-Service
parent 46dc67b7eb
commit 89f4789085
23 changed files with 569 additions and 649 deletions
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python/mujoco/specs.cc
+32
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@@ -1001,6 +1001,38 @@ PYBIND11_MODULE(_specs, m) {
mjs_setDefault(self.element, &default_);
},
py::return_value_policy::reference_internal);
mjsMesh.def(
"make_wedge",
[](raw::MjsMesh* self, std::array<int, 2>& resolution, double radius,
std::array<double, 2>& fov, double gamma) {
double params[5] = {static_cast<double>(resolution[0]),
static_cast<double>(resolution[1]), fov[0], fov[1],
gamma};
if (mjs_makeMesh(self, mjMESH_BUILTIN_WEDGE, params, 5)) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
}
},
py::arg("resolution") = std::array<int, 2>{0, 0}, py::arg("radius"),
py::arg("fov") = std::array<double, 2>{0, 0}, py::arg("gamma") = 0);
mjsMesh.def(
"make_prism",
[](raw::MjsMesh* self, int nedge) {
double params[1] = {static_cast<double>(nedge)};
if (mjs_makeMesh(self, mjMESH_BUILTIN_PRISM, params, 1)) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
}
},
py::arg("nedge"));
mjsMesh.def(
"make_plate",
[](raw::MjsMesh* self, std::array<int, 2>& resolution) {
double params[2] = {static_cast<double>(resolution[0]),
static_cast<double>(resolution[1])};
if (mjs_makeMesh(self, mjMESH_BUILTIN_PLATE, params, 2)) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
}
},
py::arg("resolution") = std::array<int, 2>{0, 0});
// ============================= MJSPAIR =====================================
mjSpec.def("delete", [](MjSpec& self, raw::MjsPair& obj) {