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---
license: cc-by-4.0
language:
- en
tags:
- robotics
- reinforcement learning
- embodied ai
- computer vision
- simulation
size_categories:
- 1M<n<10M
task_categories:
- reinforcement-learning
- robotics
viewer: false
---
# AI2THOR Scene/Object Dataset for ManiSkill
This is a modified version of the [Habitat Synthetic Scenes Dataset (HSSD)](https://huggingface.co/datasets/hssd/ai2thor-hab) which is also modified based on the original [AI2THOR](https://github.com/allenai/ai2thor/) scenes and assets
in order to make it usable by [ManiSkill](https://github.com/haosulab/ManiSkill). There are 10,000+ scenes and 10,000+ different objects so downloading this can take a bit of time.
Note that currently this dataset has no interactable articulated objects as the original AI2THOR simulator is based on unity and had magic articulation scripts that were not / could not be ported into usable urdfs.
Changes to HSSD for repo:
- Add decomposed collision meshes for a number of objects, although not all are decomposed yet.
After installing ManiSkill to download this dataset run
```
python -m mani_skill.utils.download_asset "AI2THOR"
``` |