| --- |
| 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 |
|
|
