Warehouse Occupancy Map Generation

Purpose

Export ROS-compatible occupancy grids from USD scenes via the omap extension or a USD-projection fallback for Nav2, MobilityGen, and A* planners.

Prerequisites

• Built Isaac Sim exposing isaacsim.asset.gen.omap (or a USD stage for the projection fallback).
• $ISAAC_SIM_DIR pointing at _build/linux-x86_64/release; numpy, scipy, Pillow for the projection/export path.
• For Path 1 (collider-based), prims must have Collisions Enabled and the timeline must be playing.

Limitations

• Path 1 requires authored PhysX colliders; prototype scenes without CollisionAPI fall through to USD projection.
• Output is a 2D top-down grid at a single height band; multi-floor or overhanging geometry is not represented.
• Path 2 (projection) ignores physics collision approximations and is only a prototype substitute.

Troubleshooting