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license: cc-by-4.0 |
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viewer: false |
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--- |
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# ReplicaCAD Dataset for ManiSkill |
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This is a modified version of the original [ReplicaCAD dataset](https://huggingface.co/datasets/ai-habitat/ReplicaCAD_dataset) |
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in order to make it usable by [ManiSkill](https://github.com/haosulab/ManiSkill2) |
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The particular changes are generally a few fixes, which include |
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- Removing commas and some misplaced commas from URDF files |
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- Fixing lighting descriptions to not have black holes ie negative intensities |
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- Fixing the location of some files so they correspond with scene configurations |
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After installing ManiSkill to download this dataset run |
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``` |
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python -m mani_skill.utils.download_asset "ReplicaCAD" |
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``` |
