Rendering Octomap in Isaac Sim

Is there anyway to render voxels from depth cameras in Isaac Sim?

I’m trying to do something like this with Octomap: ur3 ompl rrt octomap - YouTube

I need the voxels in Isaac Sim to leverage the RMPflow local motion planner. Seems like there is no support for something like this in Isaac Sim.

One option is to convert a depth image to points using this API call:

and then use one of the methods here to visualize the data in your scene.