We use Gibson and Matterport3D datasets for our experiments. Please find below the instructions to download them.

Gibson

URL: http://gibsonenv.stanford.edu/database/
Target dir: $PONI_ROOT/data/scene_datasets/gibson_semantic

Download the Gibson scenes by agreeing to the terms of use.
Semantic annotations for Gibson is available from the 3DSceneGraph dataset.
Convert the semantic annotations to habitat format following instructions in habitat-sim.

Matterport3D dataset

URL: https://niessner.github.io/Matterport/
Target dir: $PONI_ROOT/data/scene_datasets/mp3d

Download the MP3D scenes by agreeing to the terms of use and using the offical Matterport3D download script. Note that this gives basis-compressed versions of the MP3D scenes, which supports fast simulation with efficient memory use.
```
python download_mp.py --task_data habitat -o $PONI_ROOT/data/scene_datasets/mp3d
```
For extracting semantic maps, we require the non-basis compressed versions of the MP3D scenes. This can be obtained by downloading the raw MP3D scenes and converting them to GLB.
```
python download_mp.py --type matterport_mesh -o $PONI_ROOT/data/scene_datasets/mp3d_uncompressed
```
Conversion to GLB can be performed using trimesh. Note: The *.ply files from $PONI_ROOT/data/scene_datasets/mp3d can be copied over to $PONI_ROOT/data/scene_datasets/mp3d_uncompressed.
```
import trimesh
scene = trimesh.load(obj_file_path)
scene.export(glb_file_path)
```