[isaacsim.asset.gen.omap] Isaac Sim Occupancy Map#

Version: 2.0.24

The Isaac Sim Occupancy Map extension provides tools to generate occupancy maps for a Scene

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Command-line interface

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.asset.gen.omap

Experience/extension configuration

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.asset.gen.omap" = {}

Extension Manager UI

Open the Window > Extensions menu in a running application instance and search for isaacsim.asset.gen.omap. Then, toggle the enable control button if it is not already active.

API#

Python API#

Generator

Generator for creating occupancy maps from USD stages.

class Generator#

Bases: pybind11_object

Generator for creating occupancy maps from USD stages.

This class is used to generate an occupancy map for a USD stage. Assuming the stage has collision geometry information, it can produce 2D or 3D representations of the environment’s occupied and free space.

None#

Example

>>> import omni
>>> from isaacsim.asset.gen.omap import _omap
>>>
>>> physx = omni.physx.get_physx_interface()
>>> stage_id = omni.usd.get_context().get_stage_id()
>>>
>>> generator = _omap.Generator(physx, stage_id)
>>> # 0.05m cell size, output buffer will have 4 for occupied cells,
>>> # 5 for unoccupied, and 6 for cells that cannot be seen
>>> # this assumes your usd stage units are in m, and not cm
>>> generator.update_settings(.05, 4, 5, 6)
>>> # Set location to map from and the min and max bounds to map to
>>> generator.set_transform((0, 0, 0), (-2, -2, 0), (2, 2, 0))
>>> generator.generate2d()
>>> # Get locations of the occupied cells in the stage
>>> points = generator.get_occupied_positions()
>>> # Get computed 2d occupancy buffer
>>> buffer = generator.get_buffer()
>>> # Get dimensions for 2d buffer
>>> dims = generator.get_dimensions()

__init__( self: isaacsim.asset.gen.omap.bindings._omap.Generator, arg0: omni::physx::IPhysx, arg1: int, ) → None#

Initialize a new Generator instance.

Parameters:

physx_ptr – Pointer to PhysX interface used for collision detection.
stage_id – Stage ID for the USD stage to map.

Returns:

A new Generator instance.

generate2d( self: isaacsim.asset.gen.omap.bindings._omap.Generator, ) → None#

Generate a 2D occupancy map.

Generates a map based on the settings and transform set. Assumes that a 2D map is generated and flattens the computed data.

Parameters:: None
Returns:: None

generate3d( self: isaacsim.asset.gen.omap.bindings._omap.Generator, ) → None#

Generate a 3D occupancy map.

Generates a map based on the settings and transform set. Creates a full 3D volumetric representation of the scene’s occupancy.

Parameters:: None
Returns:: None

get_buffer( self: isaacsim.asset.gen.omap.bindings._omap.Generator, ) → List[float]#

Get the raw occupancy buffer.

Returns:

2D array containing values for each cell in the occupancy map.: Values correspond to the occupancy state of each cell (occupied, unoccupied, or unknown) as configured in update_settings().

Return type:

list

get_colored_byte_buffer( self: isaacsim.asset.gen.omap.bindings._omap.Generator, arg0: carb::Int4, arg1: carb::Int4, arg2: carb::Int4, ) → List[str]#

Generate a colored visualization buffer.

Creates an RGBA buffer for visualization purposes, where each cell is colored according to its occupancy state.

Parameters:

occupied_color (tuple) – RGBA Value used to denote an occupied cell.
unoccupied_color (tuple) – RGBA Value used to denote an unoccupied cell.
unknown_color (tuple) – RGBA Value used to denote unknown areas that could not be reached.

Returns:

Flattened buffer containing list of RGBA values for each pixel.: Can be used to render as image directly.

Return type:

list

get_dimensions( self: isaacsim.asset.gen.omap.bindings._omap.Generator, ) → carb::Int3#

Get the dimensions of the map in cell units.

Returns:: Dimensions for output buffer (width, height, depth).
Return type:: tuple

get_free_positions( self: isaacsim.asset.gen.omap.bindings._omap.Generator, ) → List[carb::Float3]#

Get positions of all free (unoccupied) cells.

Returns:

List of 3D points in stage coordinates from the generated map,: containing free locations.

Return type:

list

get_max_bound( self: isaacsim.asset.gen.omap.bindings._omap.Generator, ) → carb::Float3#

Get the maximum boundary point of the map.

Returns:: Maximum bound for generated occupancy map in stage coordinates.
Return type:: tuple

get_min_bound( self: isaacsim.asset.gen.omap.bindings._omap.Generator, ) → carb::Float3#

Get the minimum boundary point of the map.

Returns:: Minimum bound for generated occupancy map in stage coordinates.
Return type:: tuple

get_occupied_positions( self: isaacsim.asset.gen.omap.bindings._omap.Generator, ) → List[carb::Float3]#

Get positions of all occupied cells.

Returns:

List of 3D points in stage coordinates from the generated map,: containing occupied locations.

Return type:

list

set_transform( self: isaacsim.asset.gen.omap.bindings._omap.Generator, arg0: carb::Float3, arg1: carb::Float3, arg2: carb::Float3, ) → None#

Set origin and bounds for mapping.

Parameters:

origin (tuple of float) – Origin in stage to start mapping from, must be in unoccupied space.
min_bound (tuple of float) – Minimum bound to map up to.
max_bound (tuple of float) – Maximum bound to map up to.

Returns:

None

update_settings( self: isaacsim.asset.gen.omap.bindings._omap.Generator, arg0: float, arg1: float, arg2: float, arg3: float, ) → None#

Update the settings used for generating the occupancy map.

Parameters:

cell_size (float) – Size of the cell in stage units, resolution of the grid.
occupied_value (float) – Value used to denote an occupied cell.
unoccupied_value (float) – Value used to denote an unoccupied cell.
unknown_value (float) – Value used to denote unknown areas that could not be reached from the starting location.

Returns:

None