❓ Questions and Help

Hi,
I am looking to extract the semantic ids of each of the entire scenes. So far I see that there are object_ids and associated vertices in the _semantic.ply files for each scene.
Is there a mapping from the object_ids to the semantic (label) ids I can use?
Or am I just not looking in the right file to extract the semantic labels?

I am looking to create a top down semantic map of the scene that the robot move in at any given simulation.

Edit:

I went through this demo
https://aihabitat.org/docs/habitat-api/habitat-api-demo.html#scene-semantic-annotations

and I believe that gets me closer to the solution.

I am a little confused about what the dimensions represent.

1. The centers are in world coordinates I believe?
2. Are the dimensions (sizes) cubical dimensions from the center? I see some values of the dimensions are negative.

A coordinate level semantic information would be preferable which takes me back to the first question itself, about the coordinate object_id to semantic_id mapping.