habitat-sim: Trying to load replica_cad dataset throws 'navmesh has no navigable area` error

Habitat-Sim version: v0.2.1

❓ Questions and Help

Hello,

I’m trying to extract semantic images from replica_cad scenes provided in https://aihabitat.org/datasets/replica_cad. However, when I try to load any, I encounter an error - https://gist.github.com/RachithP/45799a2b096562b2845cfe35995af2b7.

This is the script I’m using to load scenes,

        extractor = ImageExtractor(
            scene_file_path,
            img_size=(256, 256),
            output=["semantic"],
            pose_extractor_name="random_pose_extractor"
        )

Looks like the navmesh is not found at the directory it is searching in. How can we point to the right navmesh?

I tried copying all navmeshes into the same directory where the staged files are and tried to load, but I’m getting this error then - https://gist.github.com/RachithP/00397b6135b4ca92e4f4291ea9d3e35a

I also noticed that downloading the replicacad_baked_lighting dataset and interactive dataset using python -m habitat_sim.utils.datasets_download --uids replica_cad_dataset replica_cad_baked_lighting --data-path /path/to/data/ is incomplete when compared to downloading from https://dl.fbaipublicfiles.com/habitat/ReplicaCAD/ReplicaCAD_dataset_v1.5.zip and https://dl.fbaipublicfiles.com/habitat/ReplicaCAD/ReplicaCAD_baked_lighting_v1.5.zip.

This is what I have after downloading using habitat_sim.utils.datasets_download script,

$ ls replicacad_baked_lighting
total 48M
-rw-rw-r-- 1 rachithp 2.3M May  6 16:41 remake_v0_v3_sc4_staging_08.glb
drwxrwxr-x 2 rachithp 4.0K May  6 16:41 .
-rw-rw-r-- 1 rachithp 1.4K May  6 16:41 LICENSE.txt
-rw-rw-r-- 1 rachithp 5.8M May  6 16:41 remake_v0_v3_sc1_staging_19.glb
-rw-rw-r-- 1 rachithp 2.6M May  6 16:41 remake_v0_v3_sc1_staging_09.glb
-rw-rw-r-- 1 rachithp 2.1M May  6 16:41 remake_v0_v3_sc0_staging_03.glb
-rw-rw-r-- 1 rachithp 1.9M May  6 16:41 remake_v0_v3_sc0_staging_02.glb
-rw-rw-r-- 1 rachithp 2.3M May  6 16:41 remake_v0_v3_sc1_staging_04.glb
-rw-rw-r-- 1 rachithp 2.6M May  6 16:41 remake_v0_v3_sc0_staging_15.glb
-rw-rw-r-- 1 rachithp 2.6M May  6 16:41 remake_v0_v3_sc1_staging_01.glb
-rw-rw-r-- 1 rachithp 2.6M May  6 16:41 remake_v0_v3_sc1_staging_02.glb
-rw-rw-r-- 1 rachithp 2.6M May  6 16:41 remake_v0_v3_sc2_staging_13.glb
-rw-rw-r-- 1 rachithp 2.3M May  6 16:41 remake_v0_v3_sc3_staging_01.glb
-rw-rw-r-- 1 rachithp 2.3M May  6 16:41 remake_v0_v3_sc4_staging_02.glb
-rw-rw-r-- 1 rachithp 2.3M May  6 16:41 remake_v0_v3_sc3_staging_14.glb
-rw-rw-r-- 1 rachithp 2.6M May  6 16:41 remake_v0_v3_sc2_staging_14.glb
-rw-rw-r-- 1 rachithp 2.3M May  6 16:41 remake_v0_v3_sc3_staging_04.glb
-rw-rw-r-- 1 rachithp 2.3M May  6 16:41 remake_v0_v3_sc4_staging_07.glb
-rw-rw-r-- 1 rachithp 2.3M May  6 16:41 remake_v0_v3_sc4_staging_13.glb
-rw-rw-r-- 1 rachithp 2.3M May  6 16:41 remake_v0_v3_sc4_staging_12.glb
-rw-rw-r-- 1 rachithp 2.3M May  6 16:41 remake_v0_v3_sc4_staging_05.glb

The unzipped folder from https://dl.fbaipublicfiles.com/habitat/ReplicaCAD/ReplicaCAD_baked_lighting_v1.5.zip is

$ ls replica_cad_baked_lighting
total 48K
drwxrwxr-x 9 rachithp 4.0K May  6 17:31 .
drwxrwxr-x 4 rachithp 4.0K May  6 17:31 ..
drwxr-xr-x 2 rachithp 4.0K Apr 20 17:20 navmeshes_default
drwxr-xr-x 2 rachithp 4.0K Apr 20 17:17 navmeshes
drwxr-xr-x 2 rachithp 4.0K Apr 20 15:33 stages
drwxr-xr-x 4 rachithp 4.0K Apr 19 16:58 configs
-rw-r--r-- 1 rachithp 1.4K Apr 19 16:58 LICENSE.txt
-rw-r--r-- 1 rachithp 7.8K Apr 19 16:58 replicaCAD_baked.scene_dataset_config.json
drwxr-xr-x 8 rachithp 4.0K Apr 19 16:58 urdf
drwxr-xr-x 8 rachithp 4.0K Apr 19 16:58 urdf_uncompressed
drwxr-xr-x 2 rachithp 4.0K Apr 19 16:58 stages_uncompressed

This is what I have after downloading using habitat_sim.utils.datasets_download script,

$ ls replicacad
total 36K
drwxrwxr-x 6 rachithp 4.0K May  6 16:41 ..
drwxrwxr-x 7 rachithp 4.0K May  6 16:41 .
drwxrwxr-x 7 rachithp 4.0K May  6 16:41 configs
-rw-rw-r-- 1 rachithp 1.4K May  6 16:41 LICENSE.txt
-rw-rw-r-- 1 rachithp 1.3K May  6 16:41 replicaCAD.scene_dataset_config.json
drwxrwxr-x 3 rachithp 4.0K May  6 16:41 objects
drwxrwxr-x 2 rachithp 4.0K May  6 16:41 navmeshes
drwxrwxr-x 8 rachithp 4.0K May  6 16:41 urdf
drwxrwxr-x 2 rachithp 4.0K May  6 16:41 stages

The unzipped folder from https://dl.fbaipublicfiles.com/habitat/ReplicaCAD/ReplicaCAD_dataset_v1.5.zip is

$ ls replica_cad
total 44K
drwxrwxr-x 8 rachithp 4.0K May  6 17:21 .
drwxrwxr-x 8 rachithp 4.0K May  6 17:16 ..
drwxr-xr-x 2 rachithp 4.0K Apr 21 13:06 navmeshes_default
drwxr-xr-x 2 rachithp 4.0K Apr 21 13:04 navmeshes
drwxr-xr-x 6 rachithp 4.0K Apr 20 16:27 objects
drwxr-xr-x 7 rachithp 4.0K Apr 19 16:58 configs
-rw-r--r-- 1 rachithp 1.4K Apr 19 16:58 LICENSE.txt
-rw-r--r-- 1 rachithp 7.8K Apr 19 16:58 replicaCAD.scene_dataset_config.json
drwxr-xr-x 2 rachithp 4.0K Apr 19 16:58 stages
drwxr-xr-x 8 rachithp 4.0K Apr 19 16:58 urdf

What are the right scene files that should be used to extract semantic images from replica_cad via habitat?