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Fix mesh-upload TypeError: MeshTriangle.vertex_indices needs a plain ndarray #133

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Fix mesh-upload TypeError: MeshTriangle.vertex_indices needs a plain ndarray #133

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13 changes: 12 additions & 1 deletion pymoveit2/moveit2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1744,9 +1744,20 @@ def add_collision_mesh(
np.fill_diagonal(transform, scale)
mesh.apply_transform(transform)

# 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. `.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.
msg.meshes.append(
Mesh(
triangles=[MeshTriangle(vertex_indices=face) for face in mesh.faces],
triangles=[
MeshTriangle(vertex_indices=np.array(face, dtype=np.uint32, subok=False))
for face in mesh.faces
],
vertices=[
Point(x=vert[0], y=vert[1], z=vert[2]) for vert in mesh.vertices
],
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