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42d9709 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 | # Downloading Datasets
The finetuning datasets are generated with Synethic Manipulation Motion Generation (SMMG), utilizing tools including
GR00T-Teleop, Mimic on Isaac Lab simulation environment. More details related to how datasets are generated could be viewed in [Isaac Lab Teleop & IL](https://isaac-sim.github.io/IsaacLab/main/source/overview/teleop_imitation.html).
## Available Datasets
Datasets are hosted on Hugging Face as listed below.
[nvidia/PhysicalAI-GR00T-Tuned-Tasks: Nut Pouring](https://huggingface.co/datasets/nvidia/PhysicalAI-GR00T-Tuned-Tasks/tree/main/Nut-Pouring-task)
[nvidia/PhysicalAI-GR00T-Tuned-Tasks: Exhaust-Pipe-Sorting](https://huggingface.co/datasets/nvidia/PhysicalAI-GR00T-Tuned-Tasks/tree/main/Exhaust-Pipe-Sorting-task)
You can download the GR00T-Lerobot format dataset ready for post training, or the original Mimic-generated HDF5 for data conversion.
## Download Instructions
Make sure you have registered your Hugging Face account and have read-access token ready.
```bash
# Provide your access token with read permission
huggingface-cli login
export DATASET="nvidia/PhysicalAI-GR00T-Tuned-Tasks"
# Define the path to save the datasets as DATASET_ROOT_DIR
huggingface-cli download --repo-type dataset --resume-download $DATASET --local-dir $DATASET_ROOT_DIR
```
## Dataset Structure
`DATASET_ROOT_DIR` is the path to the directory where you want to store those assets as below.
<pre>
<code>
📂 PhysicalAI-GR00T-Tuned-Tasks
├── 📂 Exhaust-Pipe-Sorting-task
│ ├── 📂 data
│ ├── 📂 meta
│ └── 📂 videos
├── exhaust_pipe_sorting_task.hdf5
├── 📂 Nut-Pouring-task
│ ├── 📂 data
│ ├── 📂 meta
│ └── 📂 videos
├── nut_pouring_task.hdf5
└── README.md
</code>
</pre>
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