How to add semantic data in occupancy map?

how to generate a 2d map of a zone including the occupancy and semantic data ?
now this is a toturial 12. Occupancy Map Generation — Omniverse Robotics documentation about occupancy map , but how to generate a semantic map like occupancy in isaacsim ?

help ~

Hi there,

does this related conversation help regarding semantic map generation?

Cheers,
Andrei

Thanks for your reply, but this question still exits