Fix mesh-upload TypeError: MeshTriangle.vertex_indices needs a plain ndarray - #133
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grahas wants to merge 1 commit into
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Fix mesh-upload TypeError: MeshTriangle.vertex_indices needs a plain ndarray#133grahas wants to merge 1 commit into
grahas wants to merge 1 commit into
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…ndarray trimesh loads faces as a TrackedArray (an ndarray subclass) of int64 by default. shape_msgs/MeshTriangle's generated setter requires vertex_indices to be exactly numpy.ndarray (a strict type-name check in the rosidl C extension, not just dtype) -- found by actually running this against a real STL (add_workspace_scene.py in the parol6_dispenser repo). .astype() preserves the TrackedArray subclass by default, which still fails that check even with the right dtype; np.array(..., dtype=..., subok=False) is needed to get a plain ndarray. Was sitting as an uncommitted local diff with zero version control -- anyone cloning upstream pymoveit2 fresh would hit this exact failure. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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Summary
add_collision_mesh-style calls that buildshape_msgs/MeshTrianglefrom atrimesh.Trimesh's.facesraise aTypeErrorat message-fill time.trimesh'smesh.facesis aTrackedArray(anumpy.ndarraysubclass used for change-tracking) rather than a plainnumpy.ndarray, and ROS 2's generated message code does a stricttype(x) is numpy.ndarraycheck onvertex_indices— a subclass instance fails it even thoughisinstancewould pass.Fix
Build
vertex_indicesvianp.array(face, dtype=np.uint32, subok=False)instead of passingfacestraight through —subok=Falseforces a plainndarray, discarding theTrackedArraysubclass wrapper.Testing
Verified against a real mesh (
add_workspace_scene-style collision object upload) that previously raised theTypeErroron every call — now uploads successfully to a runningmove_group.