Habitat semantic labels

[Claessens14]

Hello,

When I turn on the semantic sensor with the habitat-semantic dataset, I get integer values of a wide range, 0 to approximately 1000+. I was wondering what values these align up to. I found these two options.

https://github.com/facebookresearch/habitat-sim/blob/main/data/hm3d_semantics/hm3dsem_category_mappings.tsv

https://github.com/facebookresearch/habitat-sim/blob/main/data/matterport_semantics/matterport_category_mappings.tsv

Is there a way to configure habitat to use labels such as nyuClass as default or a different option that has fewer labels as default. That way the integer values are of a smaller range, making it easier for a vision system to train.

Regards,
Jacob