Missing map.xodr (OpenDRIVE) and related map metadata for USDZ-exported scene in CARLA-NuRec pipeline

Problem Statement

Hi,

I am working with the CARLA-NuRec rendering pipeline in combination with 3DGRUT and the NCORE dataset. I attempted to use a scene generated from the NCORE dataset in USDZ format after training 3DGRUT. However, I’m encountering a gap in required map data for proper rendering.

Issue
The CARLA-NuRec pipeline expects a map.xodr (OpenDRIVE) file, along with other map-related metadata (e.g., lane topology, road network definitions). However, the USDZ dataset generated from trained 3DGRUT on NCORE does not include this information.

As a result, I am unable to:

• Load the scene correctly into the CARLA-NuRec pipeline
• Perform rendering that depends on road structure and map semantics

Questions

• Is there an existing pipeline or tool to generate map.xodr from NCORE or USDZ data?
• Is support for USDZ-only scenes (without OpenDRIVE) planned in the CARLA-NuRec pipeline?

Proposed Solution

There should be a way to:

• Either generate a compatible map.xodr file from the NCORE/USDZ dataset, or
• Convert/augment the USDZ scene into a format that includes the road network information required by CARLA

Alternatives Considered

No response

Additional Context

• Pipeline: NCORE → Auxiliary data generation → 3DGRUT training → USDZ export
• Target: CARLA-NuRec Rendering
• Blocking issue: Missing OpenDRIVE (map.xodr) and related map semantics

No repository file or test is named. Start by tracing the CARLA-NuRec rendering path and the NCORE → auxiliary data → 3DGRUT → USDZ stages, then determine whether map.xodr or road semantics can be produced from the available USDZ data. Done means a documented conversion path or an explicit USDZ-only support plan with the required metadata identified.