Full 3D point cloud/mesh and 3D segmentation of ai2thor scenes

Hi, has there been any success in obtaining the whole mesh of the ai2thor scenes? We are looking to get a full point cloud of the scene with 3d segmentation annotations. We have noted [here](https://github.com/allenai/ai2thor/issues/961) and [here](https://github.com/allenai/ai2thor/issues/277), but we are wondering if there have been any developments. Thank you!