Generating Synthetic Data Using Mobility Gen: Setting Up Occupancy Maps
A presenter from NVIDIA Omniverse explains how to create warehouse occupancy map files for Mobility Gen and Isaac Sim.
In this talk
- 0:14
Load the warehouse scene
Open the Simple Warehouse environment and select Warehouse Multiple Shelves. The scene takes a few seconds to appear and serves as the basis for the map.
- 0:25
Generate the occupancy map
Open the Occupancy Map tool under Tools > Robotics and set the X, Y, and Z values as directed in the tutorial. Select Calculate, then visualize the image using the defaults of 180 and ROS Occupancy Map before regenerating it.
- 1:03
Save the map configuration
Create a warehouse_multiple_shelves folder under mobility_gen/data/maps and put a map.yml file inside it. Copy the configuration text from the GUI into that file and set the referenced image name to map.png.
- 1:26
Save and check the image
Save the generated image as map.png in the same environment folder as the YAML file. Check that both files are present; the image shows the warehouse from above, with obstacles marked.
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