Raw Message Definition
# Define box, sphere, cylinder, cone
# All shapes are defined to have their bounding boxes centered around 0,0,0.
# The type of the shape
# The dimensions of the shape
# The meaning of the shape dimensions: each constant defines the index in the 'dimensions' array
# For the BOX type, the X, Y, and Z dimensions are the length of the corresponding
# sides of the box.
# For the SPHERE type, only one component is used, and it gives the radius of
# the sphere.
# For the CYLINDER and CONE types, the center line is oriented along
# the Z axis. Therefore the CYLINDER_HEIGHT (CONE_HEIGHT) component
# of dimensions gives the height of the cylinder (cone). The
# CYLINDER_RADIUS (CONE_RADIUS) component of dimensions gives the
# radius of the base of the cylinder (cone). Cone and cylinder
# primitives are defined to be circular. The tip of the cone is
# pointing up, along +Z axis.
Compact Message Definition