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jnsungp/unitree-g1-robocasa-pick-apple-bowl-1k

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. ## Dataset Description The Unitree G1 Apple Pick and Place Simulation… See the full description on the dataset page: https://huggingface.co/datasets/jnsungp/unitree-g1-robocasa-pick-apple-bowl-1k.

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Dataset Card

Unitree G1 Apple Pick and Place Simulation Dataset

<div align="center"> <table> <tr> <td align="center" style="vertical-align: top; padding: 5px;"> <img src="https://huggingface.co/datasets/jnsungp/unitree-g1-robocasa-pick-apple-bowl-1k/resolve/main/frontview.png" width="500px" alt="Front View"/> <br><b>Front View (Global)</b> </td> <td align="center" style="vertical-align: top; padding: 5px;"> <img src="https://huggingface.co/datasets/jnsungp/unitree-g1-robocasa-pick-apple-bowl-1k/resolve/main/sideview.png" width="500px" alt="Side View"/> <br><b>Side View (Profile)</b> </td> </tr> <tr> <td align="center" style="vertical-align: top; padding: 5px;"> <img src="https://huggingface.co/datasets/jnsungp/unitree-g1-robocasa-pick-apple-bowl-1k/resolve/main/birdview.png" width="500px" alt="Top-Down View"/> <br><b>Top-Down View (Bird's Eye)</b> </td> <td align="center" style="vertical-align: top; padding: 5px;"> <img src="https://huggingface.co/datasets/jnsungp/unitree-g1-robocasa-pick-apple-bowl-1k/resolve/main/rs_view.png" width="500px" alt="Ego-Centric View"/> <br><b>Ego-Centric View (Robot POV)</b> </td> </tr> <tr> <td colspan="2" align="center" style="padding-top: 20px;"> <i>Multi-view perspectives of the Unitree G1 performing the pick-and-place task.</i> </td> </tr> </table> </div>

Dataset Description

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 night1115@snu.ac.kr

License

Creative Commons Attribution 4.0 International (CC BY 4.0)

Dataset Format

ModalityTypeShapeDescription
Observationfloat32(28,)Joint positions (radians) for arms + hands
Actionfloat32(28,)Target joint positions
VideoRGB(256, 256, 3)Ego view, 20 FPS, H.264
Languagestring-"Pick up the red apple and place it on the bowl"

Joint Configuration (28-DOF)

Body PartDOFDescription
Left Arm7Shoulder (3) + Elbow (1) + Wrist (3)
Right Arm7Shoulder (3) + Elbow (1) + Wrist (3)
Left Hand7Index (2) + Middle (2) + Thumb (3)
Right Hand7Index (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

bash
huggingface-cli download \
    --repo-type dataset jnsungp/unitree-g1-robocasa-pick-apple-bowl-1k \
    --local-dir ./datasets/g1-pickplace-sim-1k

Using Python

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

python
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

bibtex
@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