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End of preview. Expand
in Data Studio
Unitree G1 Apple Pick and Place Simulation Dataset
Front View (Global) |
Side View (Profile) |
Top-Down View (Bird's Eye) |
Ego-Centric View (Robot POV) |
| Multi-view perspectives of the Unitree G1 performing the pick-and-place task. | |
The Unitree G1 Apple Pick and Place Simulation Dataset contains 957 high-quality trajectories of a Unitree G1 humanoid robot performing pick-and-place tasks in simulation. The robot picks up a red apple from a table and places it into a bowl using bilateral arms and dexterous tri-finger hands. All trajectories are generated using CuRobo motion planning for collision-free, smooth execution.
Key Features:
- 957 successful simulation trajectories (100% success rate)
- 28-DOF control: bilateral arms (7+7) + dexterous hands (7+7)
- 256×256 RGB video at 20 FPS (ego view)
- CuRobo motion planning (collision-free trajectories)
- MuJoCo + RoboCasa simulation environment
This dataset is ready for commercial and non-commercial use.
Dataset Owner
Junsung Park (@jnsungp)
Seoul National University
[email protected]
License
Creative Commons Attribution 4.0 International (CC BY 4.0)
Dataset Format
| Modality | Type | Shape | Description |
|---|---|---|---|
| Observation | float32 |
(28,) |
Joint positions (radians) for arms + hands |
| Action | float32 |
(28,) |
Target joint positions |
| Video | RGB | (256, 256, 3) |
Ego view, 20 FPS, H.264 |
| Language | string |
- | "Pick up the red apple and place it on the bowl" |
Joint Configuration (28-DOF)
| Body Part | DOF | Description |
|---|---|---|
| Left Arm | 7 | Shoulder (3) + Elbow (1) + Wrist (3) |
| Right Arm | 7 | Shoulder (3) + Elbow (1) + Wrist (3) |
| Left Hand | 7 | Index (2) + Middle (2) + Thumb (3) |
| Right Hand | 7 | Index (2) + Middle (2) + Thumb (3) |
Dataset Statistics
- Trajectories: 957
- Total Frames: 275,713
- Avg Episode Length:
288 frames (14.4 seconds) - Episode Length Range: 180-400 frames
- Storage Size: ~1.2 GB
- Success Rate: 100%
Download
huggingface-cli download \
--repo-type dataset jnsungp/unitree-g1-robocasa-pick-apple-bowl-1k \
--local-dir ./datasets/g1-pickplace-sim-1k
Using Python
from datasets import load_dataset
dataset = load_dataset("jnsungp/unitree-g1-robocasa-pick-apple-bowl-1k")
Dataset Structure
dataset_no_modality_1k/
├── data/
│ └── chunk-000/
│ ├── episode_000000.parquet
│ ├── episode_000001.parquet
│ └── ...
├── videos/
│ └── chunk-000/
│ └── observation.images.ego_view/
│ ├── episode_000000.mp4
│ ├── episode_000001.mp4
│ └── ...
├── meta/
│ ├── info.json # Dataset metadata
│ ├── stats.json # Statistics (mean, std, min, max)
│ ├── tasks.jsonl # Task descriptions
│ └── episodes.jsonl # Episode information
└── README.md
Loading Data Example
import pandas as pd
import cv2
# Load trajectory
df = pd.read_parquet("data/chunk-000/episode_000000.parquet")
observations = df['observation.state'].values # (N, 28)
actions = df['action'].values # (N, 28)
# Load video
cap = cv2.VideoCapture("videos/chunk-000/observation.images.ego_view/episode_000000.mp4")
Dataset Structure
├── data/chunk-000/ # Parquet files (trajectory data)
├── videos/chunk-000/ # MP4 files (256x256, 20fps)
├── meta/
│ ├── info.json # Dataset metadata
│ ├── stats.json # Statistics for normalization
│ ├── tasks.jsonl # Task descriptions
│ └── episodes.jsonl # Episode info
Technical Details
Simulation:
- Platform: MuJoCo + RoboCasa
- Robot: Unitree G1 (upper body)
- Scene: Kitchen tabletop
Motion Planning:
- CuRobo (GPU-accelerated)
- Collision-free trajectories
- Smooth cubic interpolation
Citation
@dataset{park2025unitree_g1_sim,
title={Unitree G1 Apple Pick and Place Simulation Dataset},
author={Park, Junsung},
year={2025},
publisher={Hugging Face},
url={https://huggingface.co/datasets/jnsungp/unitree-g1-robocasa-pick-apple-bowl-1k}
}
Acknowledgments
Built with CuRobo, RoboCasa, MuJoCo, and Unitree G1.
Version: 1.0 | Last Updated: November 19, 2025
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