pyrobosim.core.gazebo.WorldGazeboExporter.create_locations_and_objects_for_export

WorldGazeboExporter.create_locations_and_objects_for_export()

Export locations and objects to Gazebo representations.

For each entity that is exported, we check whether it is created from a geometry primitive within pyrobosim, or it references an existing model mesh.

If created from a primitive, we export each location/object category to a separate Gazebo model created using the “polyline” geometry (extruding the 2D footprint).

If referencing an existing model mesh, we simply add an <include> tag to that model and ensure that we prompt users to add the path to this model to the Gazebo path before spawning the world.