Implementation:Facebookresearch Habitat lab Datasets download rearrangement

Knowledge Sources	Habitat-Sim Habitat-Lab
Domains	Embodied_AI, Data_Management
Last Updated	2026-02-15 02:00 GMT

Overview

CLI tool invocation for downloading ReplicaCAD/HSSD articulated scene datasets and PDDL task definitions for rearrangement training.

Description

This uses the same datasets_download CLI from habitat-sim but targets rearrangement-specific datasets (ReplicaCAD, HSSD) that include articulated objects with joint definitions. Additionally, PDDL domain and problem YAML files in the habitat-lab repository define the task structure for rearrangement episodes.

Usage

Run before any rearrangement or hierarchical RL training. The ReplicaCAD dataset is the standard benchmark for Habitat rearrangement tasks.

Code Reference

Source Location

• Repository: habitat-sim (download tool)
• File: External CLI + habitat-lab/habitat/config/habitat/task/rearrange/pddl/set_table.yaml (PDDL definitions)

Signature

python -m habitat_sim.utils.datasets_download \
    --uids replica_cad_dataset \
    [--data-path <target_directory>]

Import

# CLI tool, no Python import needed
# PDDL files are YAML configs loaded automatically by Habitat

I/O Contract

Inputs

Name	Type	Required	Description
--uids	str	Yes	replica_cad_dataset or hssd-hab
--data-path	str	No	Target directory (defaults to data/)

Outputs

Name	Type	Description
Articulated scenes	.glb + .json files	3D scenes with joint/articulation metadata
Object assets	.glb files	Graspable object meshes
PDDL definitions	.yaml files	Task domain and problem specifications
Episode datasets	.json.gz files	Rearrangement episode definitions

Usage Examples

Download ReplicaCAD

# Download ReplicaCAD dataset for rearrangement
python -m habitat_sim.utils.datasets_download --uids replica_cad_dataset --data-path data/

Related Pages

Implements Principle

• Principle:Facebookresearch_Habitat_lab_Dataset_and_Scene_Preparation