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---
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/ManiSkill2)
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
After installing ManiSkill to download this dataset run
```
python -m mani_skill.utils.download_asset "ReplicaCAD"
``` |