Issue with habitat-sim

[gianscarpe]

Hi and thanks for the great work. I have a question regarding the compatibility between gibson dataet, habitat-sim, and your semantic annotations.
I followed all the instructions and generated the semantic.ply data for habitat-sim compatibility. When I import the scenes in habitat, however, sometimes the semantic is not precise and is "shifted" of a few meters.
Did you find similar issues? Is it a bug in the annotation?

[gianscarpe]

[ir0]

Hi, I am not sure what is the issue here since the projection on the Gibson panoramas worked fine for us when we published the dataset. Have you found a solution? Maybe try visualizing the semantic.ply, as well as checking/visualizing if the semantic.ply is aligned with the textured mesh.