Add built-in sphere mesh.

PiperOrigin-RevId: 791162850 Change-Id: I573a414727e79f1a495e0f2282b2faff48ab3443
2025-08-05 05:04:11 -07:00
parent 5220767457
commit 996f0040fd
8 changed files with 165 additions and 8 deletions
@@ -1014,6 +1014,15 @@ PYBIND11_MODULE(_specs, m) {
      },
      py::arg("resolution") = std::array<int, 2>{0, 0},
      py::arg("fov") = std::array<double, 2>{0, 0}, py::arg("gamma") = 0);
+  mjsMesh.def(
+      "make_sphere",
+      [](raw::MjsMesh* self, int subdivision) {
+        double params[1] = {static_cast<double>(subdivision)};
+        if (mjs_makeMesh(self, mjMESH_BUILTIN_SPHERE, params, 1)) {
+          throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
+        }
+      },
+      py::arg("subdivision"));
  mjsMesh.def(
      "make_hemisphere",
      [](raw::MjsMesh* self, int subdivision) {