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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_test.py
+13 -4
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@@ -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()