[QUESTION]Is it possible to take advantage of the voronoi graph output by hydra directly as a navigation graph?

[Hugh-Chen-Hugues]

Hello, thx a lot for opensourcing this great job, I am interested in further work of hydra, ie, navigating robot in a pre-built hydra scene. I noticed that you've gotten a voronoi graph, which is the places layer in the scene graph, and I wonder if it's possible to take advantage of the information provided by the voronoi graph to navigate robot? If it's possible, Where can I get the output voronoi graph (a .txt/json file consists of the nodes in the voronoi graph); if not, do you have any suggestions that I could do the navigation job based on your hydra 3d-scene representation?