How can I set indices of point cloud segmentation? and Can I get point cloud data with tensor directly?

Omniverse Isaac Sim
1

Hello,

Now I am trying to get point cloud segmentation data at the OGIE environment. In my multi-environments, there are several objects and manipulation tools.

The problem is I cannot set the segmentation index and it seems the embedded module such as from pxr import Semantics gives the index somewhat random. I still cannot find the rules for the way to set indices.

Many answers in the forum and the example codes are shown below lines but, I cannot find the method of setting indices.

sphere_prim = stage.GetPrimAtPath("/World/Sphere/sphere")
sphere_sem = Semantics.SemanticsAPI.Apply(sphere_prim, "Semantics")
sphere_sem.CreateSemanticTypeAttr()
sphere_sem.CreateSemanticDataAttr()
sphere_sem.GetSemanticTypeAttr().Set("class")
sphere_sem.GetSemanticDataAttr().Set("sphere")

How can I set indices?

And can I get point cloud data with tensor directly?

Thanks.