Could the occupancy.ply file in the reasoning process be made into an input switch?

[Appleatcore]

I encountered an issue at line 119 of baselines/x-navdp/eval/environment.py:
esdf_path = os.path.join(scene_path, "occupancy.ply")
It requires an "occupancy.ply" file, but it seems there is currently no tool to generate it, and it's not provided in the open-source assets (except for internscenes_home and internscenes_commercial). Is it possible to perform inference without using the PLY file?

[yty-sky]

The occupancy.ply loaded during evaluation is only used for visualization purposes. For clutter scenes, you can directly remove all code segments related to loading occupancy.ply to run inference normally without this PLY file.