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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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test/user/testdata/makemesh.xml
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+12 -7
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@@ -1,13 +1,18 @@
<mujoco model='makemesh'>
<mujoco model="makemesh">
<asset>
<mesh name="wedge" builtin="wedge" params="25 25 180 90 0"/>
<mesh name="plate" builtin="plate" params="37 37" scale="3 5 2"/>
<mesh name="prism" builtin="prism" params="3"/>
<mesh name="wedge" builtin="wedge" params="10 10 60 60 0"/>
<mesh name="prism3" builtin="cone" params="3 1" scale=".3 .3 .3"/>
<mesh name="prism5" builtin="cone" params="5 1" scale=".3 .3 .1"/>
<mesh name="cone6" builtin="cone" params="6 0" scale=".3 .3 .7"/>
<mesh name="cone4" builtin="cone" params="4 .5" scale=".3 .3 .3"/>
</asset>
<worldbody>
<geom mesh="wedge" type="mesh"/>
<geom mesh="plate" type="mesh" contype="0" conaffinity="0"/>
<geom mesh="prism" type="mesh" pos="0 0 3"/>
<light pos="0 0 10"/>
<geom mesh="wedge" type="mesh" euler="90 -90 0"/>
<geom mesh="prism5" type="mesh" pos="2 0 0" euler="90 0 0"/>
<geom mesh="prism3" type="mesh" pos="3 0 0"/>
<geom mesh="cone6" type="mesh" pos="4 0 0" euler="90 0 0"/>
<geom mesh="cone4" type="mesh" pos="5 0 0" />
</worldbody>
</mujoco>