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The easiest way to get the pointer would be to write a world plugin. It should be also possible with a System plugin.

That sounds like an awesome project, by the way :)

The easiest I don't think there is a (trivial?) way to get directly access WorldPtr from another process. Gazebo for example, runs two processes: gzserver, which holds the pointer would be WorldPtr, and gzclient, which has no direct access to write it. Instead, gzclient talks to gzserver via the transport layer.

If the current transport layer is not exposing enough for your use case, you could create a world plugin. It should be also possible with , or system plugin, which exposes the functionality you need for the GUI.

Let's say for example that you need CoM information for all models in the world. Your world plugin could publish that information on a System plugin.new topic, and your GUI listens to it and displays the information accordingly.

That sounds like an awesome project, by the way :)