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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/specs.cc
+7 -10
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@@ -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) {