metadata
license: cc-by-4.0
task_categories:
- robotics
- video-classification
tags:
- robotics
- manipulation
- sim-to-real
- cosmos-transfer
- isaac-sim
- gr1-humanoid
- pick-and-place
pretty_name: GR1 Manipulation - Isaac Sim Rendered (RGB/Depth/Seg)
size_categories:
- 10K<n<100K
GR1 Manipulation — Isaac Sim Rendered Dataset
Dataset Description
Multi-modal rendered dataset of NVIDIA GR1 humanoid robot performing tabletop manipulation tasks in Isaac Sim. Each episode is rendered as 3 synchronized MP4 videos:
- RGB — ray-traced color video
- Depth — normalized depth map (grayscale, 0–10m range)
- Segmentation — semantic segmentation with per-object class coloring
This dataset is designed as input for NVIDIA Cosmos Transfer 2.5 to generate photorealistic sim-to-real augmented training data for robot learning.
Dataset Structure
{task_name}/
episode_NNNN_rgb.mp4 # 1280x720, 20fps, RayTracedLighting
episode_NNNN_depth.mp4 # 1280x720, 20fps, normalized depth
episode_NNNN_seg.mp4 # 1280x720, 20fps, semantic segmentation
Tasks
| # | Task Name | Episodes | Frames/Episode |
|---|---|---|---|
| 1 | PnPBottleToCabinetClose |
458 | ~120–400 |
| 2 | PnPCanToDrawerClose |
2 | ~120–400 |
| 3 | PnPCupToDrawerClose |
2 | ~120–400 |
| 4 | PnPMilkToMicrowaveClose |
2 | ~120–400 |
| 5 | PnPPotatoToMicrowaveClose |
2 | ~120–400 |
| 6 | PnPWineToCabinetClose |
2 | ~120–400 |
| 7 | PosttrainPnPNovelFromCuttingboardToBasketSplitA |
2 | ~120–400 |
| 8 | PosttrainPnPNovelFromCuttingboardToCardboardboxSplitA |
2 | ~120–400 |
| 9 | PosttrainPnPNovelFromCuttingboardToPanSplitA |
2 | ~120–400 |
| 10 | PosttrainPnPNovelFromCuttingboardToPotSplitA |
2 | ~120–400 |
| 11 | PosttrainPnPNovelFromCuttingboardToTieredbasketSplitA |
2 | ~120–400 |
| 12 | PosttrainPnPNovelFromPlacematToBasketSplitA |
2 | ~120–400 |
| 13 | PosttrainPnPNovelFromPlacematToBowlSplitA |
1 | ~120–400 |
| 14 | PosttrainPnPNovelFromPlacematToPlateSplitA |
2 | ~120–400 |
| 15 | PosttrainPnPNovelFromPlacematToTieredshelfSplitA |
2 | ~120–400 |
| 16 | PosttrainPnPNovelFromPlateToBowlSplitA |
2 | ~120–400 |
| 17 | PosttrainPnPNovelFromPlateToCardboardboxSplitA |
1 | ~120–400 |
| 18 | PosttrainPnPNovelFromPlateToPanSplitA |
2 | ~120–400 |
| 19 | PosttrainPnPNovelFromPlateToPlateSplitA |
1 | ~120–400 |
| 20 | PosttrainPnPNovelFromTrayToCardboardboxSplitA |
2 | ~120–400 |
| 21 | PosttrainPnPNovelFromTrayToPlateSplitA |
2 | ~120–400 |
| 22 | PosttrainPnPNovelFromTrayToPotSplitA |
2 | ~120–400 |
| 23 | PosttrainPnPNovelFromTrayToTieredbasketSplitA |
1 | ~120–400 |
| 24 | PosttrainPnPNovelFromTrayToTieredshelfSplitA |
2 | ~120–400 |
Recording Settings
| Setting | Value |
|---|---|
| Camera | egoview (1st-person, attached to robot0_head_pitch) |
| FOV | 90° vertical |
| Resolution | 1280×720 |
| FPS | 20 |
| Renderer | Isaac Sim RayTracedLighting, SPP=32 |
| Lighting | Dome light, intensity=1500 |
| USD Export | robosuite exporter, geomgroup=[0,1,0,0,0,0] (visual meshes only) |
Source Data
- Robot: NVIDIA GR1 humanoid (from gr00trobosuite)
- Tasks: RoboCasa GR1 tabletop pick-and-place tasks
- Simulation: MuJoCo → USD → Isaac Sim Replicator pipeline
- Original trajectories: 1000 episodes per task in HDF5 format
Intended Use
Input for Cosmos Transfer 2.5 world generation model to produce photorealistic augmented manipulation videos for robot policy training (sim-to-real transfer).
License
CC-BY-4.0