File: geometric_shapes_msgs/Shape.msg
byte SPHERE=0
byte BOX=1
byte CYLINDER=2
byte MESH=3
byte type
#### define sphere, box, cylinder ####
# the origin of each shape is considered at the shape's center
# for sphere
# radius := dimensions[0]
# for cylinder
# radius := dimensions[0]
# length := dimensions[1]
# the length is along the Z axis
# for box
# size_x := dimensions[0]
# size_y := dimensions[1]
# size_z := dimensions[2]
float64[] dimensions
#### define mesh ####
# list of triangles; triangle k is defined by tre vertices located
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]
int32[] triangles
geometry_msgs/Point[] vertices
Expanded Definition
byte SPHERE=0
byte BOX=1
byte CYLINDER=2
byte MESH=3
byte type
float64[] dimensions
int32[] triangles
geometry_msgs/Point[] vertices
float64 x
float64 y
float64 z