text: #!/usr/bin/env python3
  
  # Copyright (c) Facebook, Inc. and its affiliates.
  # This source code is licensed under the MIT license found in the
  # LICENSE file in the root directory of this source tree.
  
  import habitat_sim.bindings as hsim
  import habitat_sim
  import habitat_sim.utils
  import habitat_sim.errors
  import numpy as np
  import quaternion
  import pytest
  import os.path as osp
  from examples.settings import make_cfg
  
  _test_scenes = [
      osp.abspath(
          osp.join(
              osp.dirname(__file__),
              "../data/scene_datasets/mp3d/17DRP5sb8fy/17DRP5sb8fy.glb",
          )
      ),
      osp.abspath(
          osp.join(
              osp.dirname(__file__),
              "../data/scene_datasets/mp3d/ur6pFq6Qu1A/ur6pFq6Qu1A.glb",
          )
      ),
  ]
  
  
  @pytest.mark.gfxtest
  @pytest.mark.parametrize("scene", _test_scenes)
  def test_semantic_scene(scene, sim, make_cfg_settings):
      if not osp.exists(scene):
          pytest.skip("Skipping {}".format(scene))
  
      make_cfg_settings = {k: v for k, v in make_cfg_settings.items()}
      make_cfg_settings["semantic_sensor"] = False
      make_cfg_settings["scene"] = scene
      sim.reconfigure(make_cfg(make_cfg_settings))
  
      scene = sim.semantic_scene
      for obj in scene.objects:
          obj.aabb
          obj.aabb.sizes
          obj.aabb.center
          obj.id
          obj.obb.rotation
          obj.category.name()
          obj.category.index()
  
      for region in scene.regions:
          region.id
          region.category.name()
          region.category.index()
  
      for level in scene.levels:
          level.id
  