---
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

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