ManiSkill Scene Datasets
Collection
Collection of datasets usable in the ManiSkill simulator. We are working to add more and will happily accept open source contributions!
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AI2THOR Scene/Object Dataset for ManiSkill
This is a modified version of the Habitat Synthetic Scenes Dataset (HSSD) which is also modified based on the original AI2THOR scenes and assets in order to make it usable by 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"
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