How to build a point cloud of the environment such as the env "small warehouse with multiple shelves"?

Does Isaac Sim provide some off-the-shelf solution to get a point cloud map of the entire environment?

Hi there,

AFAIK there is no such functionality,

you can use the pointcloud or distance_to_camera / distance_to_image_plane annotators to scan the environment:

Or you can traverse the stage for all the 3d meshes and access they vertice points (mesh.GetPointsAttr()), this would make the point cloud more sparse though and might require some extra steps to fill add more points.

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