Add mjs_makeMesh to create a builtin mesh.

PiperOrigin-RevId: 788538127 Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
2025-07-29 11:30:19 -07:00
parent 46dc67b7eb
commit 89f4789085
23 changed files with 569 additions and 649 deletions
@@ -484,6 +484,14 @@ class SpecsTest(absltest.TestCase):
    # Check that the state is the same.
    np.testing.assert_array_equal(state1, state2)

+  def test_make_mesh(self):
+    spec = mujoco.MjSpec()
+    mesh = spec.add_mesh(name='wedge')
+    mesh.make_wedge(resolution=[25, 25], radius=1, fov=[90, 45], gamma=0)
+    model = spec.compile()
+    self.assertEqual(model.nmesh, 1)
+    self.assertEqual(model.nmeshvert, 25 * 25)
+
  def test_compile_errors_with_line_info(self):
    spec = mujoco.MjSpec()