PhysX Lidar generates semantic point cloud

When I use the PhysX Lidar generates the semantic point cloud in Isaac Sim 2022.2.1, I can get the semantic ID like [0, 1, 1 , 2, 3, 3, …] by the omni.isaac.range_sensor._range_sensor.acquire_lidar_sensor_interface().get_semantic_data(), but I don’t know the mapping relationship between semantic ID and my semantic labels like ‘stair’, ‘beam’, ‘column’, etc. And the omni.isaac.range_sensor._range_sensor.acquire_lidar_sensor_interface().get_prim_data() in API documentation is unable. How can I obtain the semantic labels instead of the semantic ID?

Pretty sure it’s the order in the writer registry.

So chair, stair, stair, table class

0, 1, 1, 2

I’m not 100% on how you could extract that might need to copy the registry list and then use the numeric value to give you the class from the writer list

Hi @1426270571 - I would also suggest to update to latest Isaac Sim. Let us know if you have any further questions.