how to set up semantic sensor?

[YESAndy]

Hi there,

I would like to set up a semantic sensor for +physics+ROS settings. I added SEMANTIC_SENSOR item in the roam config file under PHYSICS_SIMULATOR:

SEMANTIC_SENSOR: WIDTH: 480 HEIGHT: 480 POSITION: [0, 0.65, 0]

, and run roam_with_joy.py. Terminal outputs:

Simulator::createSceneInstance : The active scene does not contain semantic annotations.

I guess there should be somewhere I can set up the path for the semantic annotation file like

habitat_sim.SimulationConfiguration().scene_dataset_config_file

Could anyone help? Thanks!