Hi,

Is there any service, etc, which I can use to get the geometry of objects in the gazebo world? I searched for a long time but couldn't find any way to determine the geometry of objects. I would need this information inside my Python program.

service /gazebo/getworldproperties gives me the names of the models and then I can get their position and orientation etc using /gazebo/getmodelstate, but how could I get the geometry associated with them?

If there is absolutely no way to do is, I will probably have to read the world file and extract the geometry information from there?

Any comments/pointers are greatly appreciated