Mesh

vertices is (N, 3) float64 metres; triangles is (M, 3) int32 vertex indices (ROS's MeshTriangle.vertex_indices), counter-clockwise seen from outside.

Full docstring

The volume, centroid and inertia methods read the mesh as a solid, so they are exact for a
closed mesh whose triangles face outward and meaningless for an open one.

Import

from robot_msgs.shape import Mesh

ROS 2shape_msgs/msg/Mesh

Preview

The figure robot_msgs.viz.plot(example) draws for the example below.

Fields

Name	Type	Default
`vertices`	`Array`	`required`
`triangles`	`Array`	`required`

Example

One instance from the package's own test catalog; the output is its real repr().

Mesh(vertices=float64[14×3], triangles=int32[24×3])

to_dict() as JSON

{
  "_type": "shape/Mesh",
  "vertices": {
    "dtype": "<f8",
    "shape": [14, 3],
    "data": [0.2, 0.0, -0.25, 0.17320508075688776, 0.09999999999999999, -0.25, 0.10000000000000003, 0.17320508075688773, -0.25, 1.2246467991473533e-17, 0.2, -0.25, -0.09999999999999996, 0.17320508075688776, -0.25, -0.17320508075688776, "… 26 more values"]
  },
  "triangles": {
    "dtype": "<i4",
    "shape": [24, 3],
    "data": [0, 1, 12, 13, 1, 0, 1, 2, 12, 13, 2, 1, 2, 3, 12, 13, "… 56 more values"]
  }
}