Note that this requires a GPU, and you make need to install EGL
conda create -y -n habitat python=3.7 cmake=3.14.0
conda activate habitat
conda install habitat-sim=0.2.1 headless -c conda-forge -c aihabitat
git clone --branch stable https://github.com/facebookresearch/habitat-lab.git
cd habitat-lab
pip install -e .
cd collect-habitat
pip install -r requirements.txt
python collect_parallel.py -d data_path -o output_path
where data_path is an abitrarily recursively deep folder of *.glb files of 3D scenes