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Add built-in cone mesh type.

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Also delete `prism` type since it is subsumed by cone.

PiperOrigin-RevId: 790992343
Change-Id: I7a9c6f2a4377489173acd64b23086c748d2cee8e
This commit is contained in:
Yuval Tassa
2025-08-04 19:34:35 -07:00
committed by Copybara-Service
parent 4a91c34239
commit a5a6379f83
13 changed files with 167 additions and 111 deletions
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python/mujoco/introspect/enums.py
+4 -5
View File
@@ -800,11 +800,10 @@ ENUMS: Mapping[str, EnumDecl] = 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),
('mjMESH_BUILTIN_CONE', 3),
('mjMESH_BUILTIN_TORUS', 4),
('mjMESH_BUILTIN_WEDGE', 5),
('mjMESH_BUILTIN_PLATE', 6),
]),
)),
('mjtBuiltin',
python/mujoco/specs.cc
+7 -10
View File
@@ -1003,7 +1003,7 @@ PYBIND11_MODULE(_specs, m) {
py::return_value_policy::reference_internal);
mjsMesh.def(
"make_wedge",
[](raw::MjsMesh* self, std::array<int, 2>& resolution, double radius,
[](raw::MjsMesh* self, std::array<int, 2>& resolution,
std::array<double, 2>& fov, double gamma) {
double params[5] = {static_cast<double>(resolution[0]),
static_cast<double>(resolution[1]), fov[0], fov[1],
@@ -1011,21 +1011,18 @@ PYBIND11_MODULE(_specs, m) {
if (mjs_makeMesh(self, mjMESH_BUILTIN_WEDGE, params, 5)) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
}
self->scale[0] = radius;
self->scale[1] = radius;
self->scale[2] = radius;
},
py::arg("resolution") = std::array<int, 2>{0, 0}, py::arg("radius"),
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_prism",
[](raw::MjsMesh* self, int nedge) {
double params[1] = {static_cast<double>(nedge)};
if (mjs_makeMesh(self, mjMESH_BUILTIN_PRISM, params, 1)) {
"make_cone",
[](raw::MjsMesh* self, int nedge, double radius) {
double params[2] = {static_cast<double>(nedge), radius};
if (mjs_makeMesh(self, mjMESH_BUILTIN_CONE, params, 2)) {
throw pybind11::value_error(mjs_getError(mjs_getSpec(self->element)));
}
},
py::arg("nedge"));
py::arg("nedge"), py::arg("radius"));
mjsMesh.def(
"make_plate",
[](raw::MjsMesh* self, std::array<int, 2>& resolution) {
python/mujoco/specs_test.py
+13 -4
View File
@@ -486,12 +486,21 @@ class SpecsTest(absltest.TestCase):
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)
mesh.make_wedge(resolution=[25, 25], fov=[90, 45], gamma=0)
mesh = spec.add_mesh(name='prism')
mesh.make_cone(nedge=5, radius=1)
mesh = spec.add_mesh(name='cone')
mesh.make_cone(nedge=6, radius=0)
model = spec.compile()
self.assertEqual(model.nmesh, 1)
self.assertEqual(model.nmeshvert, 25 * 25)
np.testing.assert_array_equal(model.mesh_scale[0], [0.1, 0.1, 0.1])
self.assertEqual(model.nmesh, 3)
self.assertEqual(model.mesh_vertnum[0], 25 * 25)
self.assertEqual(model.mesh_vertnum[1], 10)
self.assertEqual(model.mesh_vertnum[2], 7)
def test_compile_errors_with_line_info(self):
spec = mujoco.MjSpec()