Generate ROS-compatible occupancy maps from USD scenes for robot navigation.
npx skills add https://github.com/isaac-sim/IsaacSim --skill occupancy-map
Please help me install this Agent Skill. Skill: occupancy-map Source: https://github.com/isaac-sim/IsaacSim/tree/main/skills/occupancy-map Command: npx skills add https://github.com/isaac-sim/IsaacSim --skill occupancy-map
Converting a USD warehouse or facility scene into a 2D occupancy grid that ROS navigation stacks can consume is error-prone: you must decide which prims count as obstacles, filter by height, apply robot-radius buffers, and export the correct PNG/YAML pair. This Skill codifies that entire pipeline.
isaacsim.asset.gen.omap extension via GUI or Python bindings to raycast collision geometry into an occupancy grid.OccupancyMap class for A* planning, Nav2 setup, and AMR fleet validation.Generate a ROS-compatible occupancy map from my USD warehouse scene at 0.1 meter resolution with a 0.5 meter robot buffer.
High-intent search queries and answers about installing and using this skill.
Use the isaacsim.asset.gen.omap extension via Tools > Robotics > Occupancy Map in the GUI, or call the _omap.Generator Python bindings with cell size, bounds, and origin settings. The simulation timeline must be playing for PhysX raycasts to work.
Use the direct USD projection fallback: traverse all Gprims with UsdGeom.BBoxCache, project XY footprints onto a numpy grid, filter by height band (0.05-2.0m), then export PNG and YAML in ROS map_server format.
Use 0.5m/px for coarse planning, 0.1m/px for standard navigation, and 0.05m/px for fine perception tasks. A 220x180m facility at 0.1m/px produces a 2200x1800 grid.
The omap extension relies on PhysX collision geometry, so every prim must have Collisions Enabled and the timeline must be playing. Also verify the Start origin point is not inside occupied space.
Apply scipy.ndimage.binary_dilation to the occupied cells with a circular kernel sized to the robot radius divided by map resolution. A 0.5m robot at 0.1m/px needs a 5-pixel radius kernel.
Yes, export the standard PNG plus YAML with resolution, origin, and thresholds, then load it in Nav2 or via isaacsim.replicator.mobility_gen OccupancyMap.from_ros_yaml for A* planning and spawn placement.
kickthemoon0817Import USD or URDF robot assets into Isaac Sim scenes.
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