[crazy-robotaxi] Implement new map system to replace scenes

[aidanfnv]

Using the USDZ scenes makes it difficult to manipulate the game world, such as determining boundaries that are not explicit in the world, or even figuring out what constitutes a road.

This change replaces the USDZ loading with a compiler that takes a game map defined in a YAML file, loads it into a internal game map structure, and compiles it to USDZ for Omnidreams to use.

That way, the game has complete knowledge of and ownership over the map and its structure, and the renderer receives the map from the game instead of the game trying to reverse-engineer the map to use it.

[copy-pr-bot]

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[greptile-apps]

Greptile Summary

This PR replaces Crazy Robotaxi’s prebuilt USDZ scene flow with authored YAML node-graph maps that are validated, compiled, cached, and supplied to the renderer. Major changes include:

• Adds the map schema, loader, compiler, previews, traffic derivation, vicinity resolution, and bundled map definitions.
• Integrates compiled map geometry with navigation, physics, fare selection, rendering, CLI configuration, and scene switching.
• Adds strict renderer and gameplay YAML settings alongside extensive map and runtime tests.

Confidence Score: 4/5

The PR is not yet safe to merge because the map-selection lifecycle remains bypassed in both launch modes and native HUD exit still closes the session.

The current CLI unconditionally loads config.scene_path without consulting the disabled-by-default auto_start setting, and its native HUD exit branch breaks the loop rather than returning to wait_for_scene_selection.

Files Needing Attention: apps/crazy_robotaxi/crazy_robotaxi/cli.py

Important Files Changed

Filename	Overview
apps/omnidreams_game_engine/omnidreams_game_engine/game_map/loader.py	Loads and validates authored YAML maps into the engine’s internal map representation.
apps/omnidreams_game_engine/omnidreams_game_engine/game_map/compiler.py	Compiles map topology and resolved geometry into cached renderer assets.
apps/crazy_robotaxi/crazy_robotaxi/cli.py	Migrates discovery and launch behavior to YAML maps, but the previously reported initial and replacement selection lifecycle remains broken.
apps/crazy_robotaxi/crazy_robotaxi/app.py	Connects compiled map data, fare regions, curbs, vicinity resolution, and configurable ground snapping to gameplay.
apps/crazy_robotaxi/crazy_robotaxi/game.py	Adapts taxi gameplay and fare behavior to the new map-owned navigation and region data.
integrations/omnidreams/ludus-renderer/ludus_renderer/_cpp/physx/bindings.cpp	Extends native PhysX bindings needed by the map-backed simulation path.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  YAML[Robotaxi YAML map] --> Loader[Validate and load map]
  Loader --> Model[Internal game-map model]
  Model --> Compiler[Compile and cache USDZ]
  Compiler --> Renderer[OmniDreams renderer]
  Model --> Navigation[Navigation and fare routing]
  Model --> Physics[Curbs, traffic, and vicinity]
  Renderer --> Runtime[Crazy Robotaxi runtime]
  Navigation --> Runtime
  Physics --> Runtime

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