how to get access to point clouds of the full scene with semantic annotations?

[hldbalabala]

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Docs and Tutorials

Did you read the docs? https://aihabitat.org/docs/habitat-sim/
yes
Did you check out the tutorials? https://aihabitat.org/tutorial/2020/
yes
Perhaps your question is answered there. If not, carry on!

❓ Questions and Help

how to get access to point clouds of the full scene with semantic annotations?
I saw someone mention in issue 1081 that he could get point clouds for the full scene, but I don't know how to implement this function.