How to Use 3D Scene Graphs for Navigation in Gibson?

[psi0000]

Hello, I would like to perform navigation using 3D scene graphs in the Gibson environment. I have already downloaded the 3D scene graph dataset(Standford) and completed the Gibson setup. However, I couldn't find any examples or tutorials on how to utilize the graph. I am wondering how I can effectively use it. Could someone help me with this?

Thank you!