Upload README.md with huggingface_hub

README.md

@@ -0,0 +1,97 @@
+---
+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