> ## Documentation Index
> Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Generate a Map from the Scene

> Build a 2D occupancy grid from the geometry you authored, so a robot can navigate before it has ever mapped the site.

<Note>This page is a stub. A human will curate and expand it before publishing.</Note>

## What this is for

Normally a map exists because a robot drove around and built one. **Generate from
scene** goes the other way: it turns the walls, shelves and floors you placed in
the editor into the same kind of 2D occupancy grid, without a robot and without a
mapping run.

Use it to plan routes in a site you have modelled but not yet visited, to give a
robot something to localize against on its first run, or to compare against a
real SLAM map of the same building.

Find it under **Maps** in the right panel in **Edit**, after laying out the site.
The **Simulation** panel focuses on simulation settings and sensor previews.

## Step-over height

The most important setting, and the one that makes the map robot-specific.

A 6 cm cable rail across the floor is an obstacle for a wheeled AMR and a
non-event for a quadruped that simply steps over it. So the map is not a property
of the environment alone — it depends on which robot is driving.

**Step-over height** is the clearance below which objects are left out of the
grid. Pick a robot from the dropdown and it fills the field in: from that
robot's own declared dimensions if it has them, otherwise from a default shared
by every robot of that type. The field says which, so check it against the real
machine when it is the shared default. Override it if you want. **Robot height**
does the same at the top end, so ceilings and overhead gantries the robot passes
under are left out too. Both fields are under **Advanced**.

Because the map depends on the robot, generating for a second robot with a
different clearance creates a **second map** rather than replacing the first.
Regenerating for the *same* robot replaces its map in place.

## Nothing is dropped silently

Objects left out of the grid are still reported. After generating you get a list
of what was stepped over and what was passed under, with heights — so a clear
corridor on the map is always explicable.

Anything else worth knowing about the result appears there too: a doorway that
did not cut through its wall, objects that fell outside the map area, a scene
mapped without a floor, or a map that was **not** made the environment's
navigation reference because an existing alignment would have been overwritten.

## Preview before you commit

The preview updates as you change the settings and stores nothing. Lower the
step-over height and the floor rails reappear; raise it and they vanish. Generate
only once it looks right.

## What you get

An ordinary occupancy grid, marked **Generated** in the map list so it is never
mistaken for a surveyed one. It shows in the 3D scene like any other map, and it
becomes the environment's navigation reference so waypoints line up with it
without any manual alignment. If you had already aligned a real SLAM map by hand,
that alignment is left alone and you are told so.

Doors and windows placed as openings are cut out of the walls they sit in, so
routes can pass through them.

## Requirements

* The environment needs some geometry to rasterize. With nothing to bound a map
  with, generation is refused.
* A **floor** (a ground or terrain object) is recommended but not required.
  Without one the map assumes open ground — the same floor the simulator adds —
  and says so. That is fine in simulation and optimistic on a real site, which
  has boundaries the model does not.
* Aerial robots are not supported: a flat floor slice cannot describe what a
  drone flies over or under.