How to specify certain gibson file, also can we extract poses in certain environment?

My task is to save the RGB and depth images from the scene and also to extract pose.

I am able to save RGB and Depth images but I cant see in the documentation anything about poses can I access them or save them.

Currently I am using pointnav_mp3d.yaml as the conifg file but I am unable to figure out how to provide different scene than the default, I have dowloaded GIbson data and want to specify certain gibson file as my scene. How to do it/

I have tried this:

config = habitat.get_config(config_paths='../configs/tasks/pointnav_mp3d.yaml') config.defrost() config.DATASET.DATA_PATH = '../data/datasets/pointnav/mp3d/v1/val/val.json.gz' config.DATASET.SCENES_DIR = '../data/scene_datasets/' config.freeze() env = habitat.Env(config=config)

I am changing path of this pointing to my .glb file but its not opening my .glb file:

config.DATASET.SCENES_DIR = '../data/scene_datasets/'

Edit: I have also tried with adding SIMULATOR.SCENE and path to my gibson file but still not working

I would be great if someone can provide insight into this issue,

Thanks

[erikwijmans]

The majority of scenes in gibson contain major reconstruction artifacts, so we didn’t provide PointNav episodes for them. The function to generate new episodes is here: https://github.com/facebookresearch/habitat-api/blob/master/habitat/datasets/pointnav/pointnav_generator.py

[mathfac]

@Toraudonn the generation code will generate the valid episodes, but environment and trajectories would look strange and far from a navigation in real life. Here is an example of such episode:

Closing the issue, feel free to open if you have questions.