pyrobosim.utils.polygon.polygon_and_height_from_mesh

pyrobosim.utils.polygon.polygon_and_height_from_mesh(mesh_data: dict[str, str]) → tuple[Polygon, float]

Returns the 2D footprint and the max height from a mesh NOTE: Right now this supports only DAE files, which is a commonly used format for Gazebo models.

Parameters:

mesh_data – Mesh geometry metadata from YAML file

Returns:

Shapely polygon representing the 2D convex hull of the mesh, plus the vertical (Z) height.