---
license: cc-by-4.0
viewer: false
---


# ReplicaCAD Dataset for ManiSkill

This is a modified version of the original [ReplicaCAD dataset](https://huggingface.co/datasets/ai-habitat/ReplicaCAD_dataset) 
in order to make it usable by [ManiSkill](https://github.com/haosulab/ManiSkill)

The particular changes are generally a few fixes, which include
- Removing commas and some misplaced commas from URDF files
- Fixing lighting descriptions to not have black holes ie negative intensities
- Fixing the location of some files so they correspond with scene configurations
- Adding handle collision meshes to fridge/cabinet drawer

After installing ManiSkill to download this dataset run
```
python -m mani_skill.utils.download_asset "ReplicaCAD"
```

Citations
---

As this is a modified version of the ReplicaCAD dataset, if using this dataset, please also cite [Habitat 2.0](https://arxiv.org/abs/2106.14405):

```
@inproceedings{szot2021habitat,
    title     =     {Habitat 2.0: Training Home Assistants to Rearrange their Habitat},
    author    =     {Andrew Szot and Alex Clegg and Eric Undersander and Erik Wijmans and Yili Zhao and John Turner and Noah Maestre and Mustafa Mukadam and Devendra Chaplot and Oleksandr Maksymets and Aaron Gokaslan and Vladimir Vondrus and Sameer Dharur and Franziska Meier and Wojciech Galuba and Angel Chang and Zsolt Kira and Vladlen Koltun and Jitendra Malik and Manolis Savva and Dhruv Batra},
    booktitle   =     {Advances in Neural Information Processing Systems (NeurIPS)},
    year      =     {2021}
}
```