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Creating custom models

Hello,
I want to create world files (having some obstacles in it). As an example of the world/environment, please consider the attached image. Please note that some polygons in the image are not rectangles.
To create this environment, from what I understand, I can create sdf files of each of the polygons in the image and create a world where I will include these polygons.
Doubt: how to create the sdf files of the polygons which are not rectangles.
image description

Please do tell if the question is not clear. Thanks in advance.

Creating custom models

Hello,
I want to create world files (having some obstacles in it). As an example of the world/environment, please consider the attached image. Please note that some polygons in the image are not rectangles.
To create this environment, from what I understand, I can create sdf files of each of the polygons in the image and create a world where I will include these polygons.
Doubt: how to create the sdf files of the polygons which are not rectangles.
image description

Please do tell if the question is not clear. Thanks in advance.

Edit 1: I would appreciate if the solution is as less cumbersome as possible while implementing for a large number of images. Thank you.