I'm trying to transform a nav_msgs/OccupancyGrid Message into a Polygon. However if theres an object in the middle of the room I'm currently not able to take it out of the polygon without drawing a line from a wall to the object.

My possible solution without having to alternate my path planning software would be to make a multi polygon which excludes the object from the overall shape.

Is it possible to alternate my message in such a fashion, that can cut parts out of the center of my polygon using the geometry_msgs/PolygonStamped? I'm looking to create somthing like the following:

If it helps, the path planning software uses the shapely.geometry.Polygon class by transforming the message into a Polygon before any other operation.