Warehouse Occupancy Map Generation

Generate ROS-compatible occupancy maps from USD warehouse scenes for navigation and perception training. Two paths: the documented isaacsim.asset.gen.omap extension (PhysX-collider-based, GUI + Python), and a direct USD-projection fallback for prototypes or non-collider scenes.

When to use

• Nav2 / MobilityGen / A* path planning setup.
• Perception training data generation.
• AMR fleet path planning validation.
• Collision-avoidance buffer-zone calculation.

Path 1 (recommended): isaacsim.asset.gen.omap extension

Documented in docs/isaacsim/digital_twin/ext_isaacsim_asset_generator_occupancy_map.rst (Mapping). The extension uses physics collision geometry, so every prim you want captured must have Collisions Enabled; the Start location cannot be occupied.

GUI workflow