Habitate Matterport 3D dataset

[sai-prasanna]

I am new to 3D scene formats, so please bear with me if the question is too simple.

I have a project implemented with iGibson simulator. A new dataset Habitat matterport 3D was released recently. I wish to use it with the iGibson simulator. HM3D distributes mtl+obj or glb scenes, and the semantic annotation is in glb format. I wish to make use of this dataset including the semantic annotation with iGibson. I was wondering how to go about doing this. Should I use "StaticIndoorScene"? Does it work with semantic segmentation? How much effort would it take to convert the glb semantic annotations to a format which iGibson simulator can recognize?