How to import a NumPy occupancy map into Isaac Sim?

Omniverse Isaac Sim
1

Hi everyone,

I’m working on a project using Isaac Sim and I have a 2D NumPy array representing an occupancy map (0 = free, 1 = occupied). I would like to import this map into Isaac Sim.

Specifically, I’m wondering:

  1. What’s the best way to convert a NumPy occupancy grid into a usable map inside Isaac Sim?

Any code snippets, extensions, or tools that can help would be greatly appreciated!

Thanks in advance!

3

Hi @inamsajjad9688! You can try to convert your NumPy occupancy map into an image format (e.g. png) and a yaml file which includes map metadata (cell size, origin, etc.). Isaac Sim would work with this format. Here is a tutorial of how Isaac Sim generates an occupancy map: Mapping — Isaac Sim Documentation. You can refer this tutorial to understand what data and format Isaac Sim uses.

I am not sure how you would use the map in Isaac Sim, but here is a tutorial of using block world generator with a map image: Mapping — Isaac Sim Documentation.

1 Like
4

Thank you zhengwang.
Is there a python code for this as well?

5

Do you mean converting from numpy occupancy map to an image? I found an example on GeeksforGeeks Convert a NumPy array to an image - GeeksforGeeks

6

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