How to load Replica dataset using Habitat-Sim?

[jn-tang]

I followed the instruction in Habitat-Sim and installed Habitat-Sim, but the examples given by Habitat-Sim is not very instructive and I didn't get how to load a scene from Replica.

I tried

scene = '~/replica/apartment_0/mesh.ply'
scene_dataset = '~/replica/apartment_0/habitat/replica_stage.stage_config.json'

sim_settings = {
    'width': 1080,
    'height': 960,
    'scene': scene,
    'scene_dataset': scene_dataset,
    'default_agent': 0,
    'sensor_height': 1.5,
    'color_sensor': True,
    'depth_sensor': True,
    'enable_physics': False,
}

but the program aborted.

[jn-tang]

Update: I now tried

'scene_dataset': /path/to/replica/replica.scene_dataset_config.json
'scene': 'room_0'

The program aborted with error message

GL::AbstractShaderProgram::link(): linking failed with the following message:
Geometry info
-------------
(0) : error C6022: No input primitive type
(0) : error C6029: No output primitive type
Assertion link() failed at /home/tjn/habitat-sim/src/esp/gfx/PTexMeshShader.cpp:65
[2]    2847469 abort (core dumped)  python test.py