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.gitattributes

@@ -9,7 +9,6 @@
 *.joblib filter=lfs diff=lfs merge=lfs -text
 *.lfs.* filter=lfs diff=lfs merge=lfs -text
 *.lz4 filter=lfs diff=lfs merge=lfs -text
-*.mds filter=lfs diff=lfs merge=lfs -text
 *.mlmodel filter=lfs diff=lfs merge=lfs -text
 *.model filter=lfs diff=lfs merge=lfs -text
 *.msgpack filter=lfs diff=lfs merge=lfs -text
@@ -54,6 +53,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.jpg filter=lfs diff=lfs merge=lfs -text
 *.jpeg filter=lfs diff=lfs merge=lfs -text
 *.webp filter=lfs diff=lfs merge=lfs -text
-# Video files - compressed
-*.mp4 filter=lfs diff=lfs merge=lfs -text
-*.webm filter=lfs diff=lfs merge=lfs -text
+*.glb filter=lfs diff=lfs merge=lfs -text

LICENSE.txt

@@ -0,0 +1,28 @@
+CC BY-NC 4.0 License (https://creativecommons.org/licenses/by-nc/4.0/)
+
+Copyright (c) Facebook, Inc. and its affiliates.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this material, to copy and redistribute the material in any medium or format,
+and to remix, transform, and build upon the material subject to the following 
+conditions:
+
+- Attribution: You must give appropriate credit, provide a link to the license, 
+and indicate if changes were made. You may do so in any reasonable manner, 
+but not in any way that suggests the licensor endorses you or your use.
+
+- NonCommercial: You may not use the material for commercial purposes.
+
+- No additional restrictions: You may not apply legal terms or technological 
+measures that legally restrict others from doing anything the license permits.
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE MATERIAL IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+MATERIAL.

README.md

@@ -0,0 +1,35 @@
+---
+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
+- Adding handle collision meshes to fridge/cabinet drawer
+
+After installing ManiSkill to download this dataset run
+```
+python -m mani_skill.utils.download_asset "ReplicaCAD"
+```
+
+Citations
+---
+
+As this is a modified version of the ReplicaCAD dataset, if using this dataset, please also cite [Habitat 2.0](https://arxiv.org/abs/2106.14405):
+
+```
+@inproceedings{szot2021habitat,
+    title     =     {Habitat 2.0: Training Home Assistants to Rearrange their Habitat},
+    author    =     {Andrew Szot and Alex Clegg and Eric Undersander and Erik Wijmans and Yili Zhao and John Turner and Noah Maestre and Mustafa Mukadam and Devendra Chaplot and Oleksandr Maksymets and Aaron Gokaslan and Vladimir Vondrus and Sameer Dharur and Franziska Meier and Wojciech Galuba and Angel Chang and Zsolt Kira and Vladlen Koltun and Jitendra Malik and Manolis Savva and Dhruv Batra},
+    booktitle   =     {Advances in Neural Information Processing Systems (NeurIPS)},
+    year      =     {2021}
+}
+```

configs/full_scenes/apt_0.scene_instance.json

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+{
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+  },
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+    {
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+}

configs/full_scenes/apt_1.scene_instance.json

@@ -0,0 +1,1916 @@
+{
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+}

configs/full_scenes/apt_2.scene_instance.json

@@ -0,0 +1,1901 @@
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+}

configs/full_scenes/apt_3.scene_instance.json

@@ -0,0 +1,1886 @@
+{
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+  },
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+}

configs/full_scenes/apt_4.scene_instance.json

@@ -0,0 +1,1886 @@
+{
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+}

configs/full_scenes/apt_5.scene_instance.json

@@ -0,0 +1,1811 @@
+{
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+}

configs/full_scenes/empty_stage.scene_instance.json

@@ -0,0 +1,9 @@
+{
+    "stage_instance":{
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+    },
+    "default_lighting":  "lighting/frl_apartment_stage",
+    "object_instances":[],
+    "articulated_object_instances": [],
+    "navmesh_instance": "empty_stage_navmesh"
+}

configs/full_scenes/v3_sc0_staging_00.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_01.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_02.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+  "navmesh_instance": "v3_sc0_staging_02",
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configs/full_scenes/v3_sc0_staging_03.scene_instance.json

@@ -0,0 +1,422 @@
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+}

configs/full_scenes/v3_sc0_staging_04.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_05.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_06.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_07.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_08.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_09.scene_instance.json

@@ -0,0 +1,422 @@
+{
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configs/full_scenes/v3_sc0_staging_10.scene_instance.json

@@ -0,0 +1,422 @@
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configs/full_scenes/v3_sc0_staging_11.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_12.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_13.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_14.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_15.scene_instance.json

@@ -0,0 +1,422 @@
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+}

configs/full_scenes/v3_sc0_staging_16.scene_instance.json

@@ -0,0 +1,422 @@
+{
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configs/full_scenes/v3_sc0_staging_17.scene_instance.json

@@ -0,0 +1,422 @@
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+}

configs/full_scenes/v3_sc0_staging_18.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_19.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc0_staging_20.scene_instance.json

@@ -0,0 +1,422 @@
+{
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+}

configs/full_scenes/v3_sc1_staging_00.scene_instance.json

@@ -0,0 +1,454 @@
+{
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+}

configs/full_scenes/v3_sc1_staging_01.scene_instance.json

@@ -0,0 +1,454 @@
+{
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+      "auto_clamp_joint_limits": true,
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+    {
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+    {
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+    {
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+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
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+  ]
+}

configs/full_scenes/v3_sc1_staging_02.scene_instance.json

@@ -0,0 +1,454 @@
+{
+  "stage_instance": {
+    "template_name": "Stage_v3_sc1_staging",
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+    "translation_origin": "COM"
+  },
+  "default_lighting": "lighting/frl_apartment_stage",
+  "navmesh_instance": "v3_sc1_staging_02",
+  "object_instances": [
+    {
+      "template_name": "frl_apartment_wall_cabinet_02_6_tier_white_wide_cabinet",
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+      "motion_type": "STATIC",
+      "translation_origin": "COM"
+    },
+    {
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+      "translation_origin": "COM"
+    },
+    {
+      "template_name": "frl_apartment_tvstand",
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configs/full_scenes/v3_sc1_staging_03.scene_instance.json

@@ -0,0 +1,454 @@
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+}

configs/full_scenes/v3_sc1_staging_04.scene_instance.json

@@ -0,0 +1,454 @@
+{
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+}

configs/full_scenes/v3_sc1_staging_05.scene_instance.json

@@ -0,0 +1,454 @@
+{
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+  "navmesh_instance": "v3_sc1_staging_05",
+  "object_instances": [
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+}

configs/full_scenes/v3_sc1_staging_06.scene_instance.json

@@ -0,0 +1,454 @@
+{
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+      "auto_clamp_joint_limits": true,
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+      "auto_clamp_joint_limits": true,
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+  ]
+}

configs/full_scenes/v3_sc1_staging_07.scene_instance.json

@@ -0,0 +1,454 @@
+{
+  "stage_instance": {
+    "template_name": "Stage_v3_sc1_staging",
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+    "translation_origin": "COM"
+  },
+  "default_lighting": "lighting/frl_apartment_stage",
+  "navmesh_instance": "v3_sc1_staging_07",
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configs/full_scenes/v3_sc1_staging_08.scene_instance.json

@@ -0,0 +1,454 @@
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+}

configs/full_scenes/v3_sc1_staging_09.scene_instance.json

@@ -0,0 +1,454 @@
+{
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+}

configs/full_scenes/v3_sc1_staging_10.scene_instance.json

@@ -0,0 +1,454 @@
+{
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+  "object_instances": [
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+}

configs/full_scenes/v3_sc1_staging_11.scene_instance.json

@@ -0,0 +1,438 @@
+{
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+      "translation_origin": "COM",
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+}

configs/full_scenes/v3_sc1_staging_12.scene_instance.json

@@ -0,0 +1,454 @@
+{
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+    {
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+}

configs/full_scenes/v3_sc1_staging_13.scene_instance.json

@@ -0,0 +1,438 @@
+{
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+  "navmesh_instance": "v3_sc1_staging_13",
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+}

configs/full_scenes/v3_sc1_staging_14.scene_instance.json

@@ -0,0 +1,438 @@
+{
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+}

configs/full_scenes/v3_sc1_staging_15.scene_instance.json

@@ -0,0 +1,438 @@
+{
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+}

configs/full_scenes/v3_sc1_staging_16.scene_instance.json

@@ -0,0 +1,454 @@
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+    {
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+    {
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+    {
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+    {
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+    {
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+      "fixed_base": true,
+      "auto_clamp_joint_limits": true,
+      "translation_origin": "COM",
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+  ]
+}

configs/full_scenes/v3_sc1_staging_17.scene_instance.json

@@ -0,0 +1,454 @@
+{
+  "stage_instance": {
+    "template_name": "Stage_v3_sc1_staging",
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configs/full_scenes/v3_sc1_staging_18.scene_instance.json

@@ -0,0 +1,454 @@
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