How to use habitat viewer to get SDF values?

[WohimLee]

According to this #10

I wanna get the same files (sdf.npy, stage_sdf.npy, transform.txt) as the datasets.
I have rebuilt habitat-sim successfully. When I visualized the mesh.obj from apt_2_nav dataset, I press 'k', and the voxels appearred. But I can't find the options to change the voxel size and to save the output grid of SDF values.

[WohimLee]

Additionally, I was wondering do I need to write another python script to generate the output .npy files.