The meaning of the semantic labels

[Hebcak]

Dear authors of TartanAir,

the meaning of the semantic labels is unclear to me. The AirSim documentation you link says the labels correspond to mesh numbers present in the environment, which is corroborated by the leafy trees in gascola, seasonsforest and neighborhood all having the label 152. However, both the carwelding and oldtown environments contain the label 194, each marking a different object. Additionally, in the neighborhood environment, some of the house roofs have different labels. (Please see attached images.) Could you please give me some direction, if there is a list of environment, mesh and label correspondences or another way to differentiate them (maybe something similar to the COCO dataset), or are they completely arbitrary? Thank you in advance!

The cabinets in the carwelding environment have label 194.

The fence in the oldtown environment also has the label 194.

The different sections of the roof on the right have different labels (visualized with different colors).