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[isaacsim.asset.importer.heightmap] Heightmap extension for Isaac Sim Occupancy Map#

Version: 2.3.3

Overview#

../../../../_images/preview9.png

The isaacsim.asset.importer.heightmap extension converts 2D heightmap and occupancy map images into 3D terrain environments in USD format. It reads grayscale images where pixel intensity represents elevation or occupancy, and generates corresponding 3D geometry using USD point instancers for efficient rendering.

Functionality#

  • Image to terrain conversion: Transforms heightmap images into 3D environments with configurable cell size and height scaling

  • Occupancy map support: Interprets dark pixels (below a configurable threshold) as occupied cells for navigation and obstacle mapping

  • Efficient rendering: Uses USD point instancers with cube instances for memory-efficient representation of large terrains

  • Scene setup: Automatically generates ground planes and lighting for the imported environment

Preview

Enable Extension#

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

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

APP_SCRIPT.(sh|bat) --enable isaacsim.asset.importer.heightmap

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

[dependencies]
"isaacsim.asset.importer.heightmap" = {}

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