Static Obstacles

A static obstacle named <model_name> can be added by first acquiring - sdf model file: 3D representation (required for gazebo) - usd model file: 3D representation (optional, automatically converted from sdf otherwise)

These files need to be saved to simulation_setup/entities/obstacles/static/ with the following structure

<model_name>/
    sdf/
        <model_name>.sdf
    usd/
        <model_name>.usd

The model can now be used under <model_name> in task configurations.