An issue with occupancy map generation in new scenes

[mpgussert]

Hello all!

I have a scene that I would love to use with mobility gen! Unfortunately, the scene has a large skybox that exists as a shape on the stage and this means that the occupancy map generate grabs much too large a volume to check for occupancy!

It looks like this is handled in the build.py via the build_scenario_from_config function, which simply grabs the root prim of the USD being loaded.

What if we added an optional "occupancy boundaries" path that the user can specify?

Awesome work! Thank you!
Gus

[jaybdub]

Thanks Gus!

To handle scenes that use a different path for occupancy map generation than the root path we may be able to

(1) Add text input field to extension.py to specify what path to use for occupancy map generation (default to /World/scene)
(2) Add this parameter to the config class
(3) Update the build_scenario_from_config method

May be nice if we could make a dropdown for advanced settings, so users aren't overwhelmed when using the default workflow.

John