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

---
license: cc-by-4.0
task_categories:
- robotics
tags:
- unitree-g1
- pick-and-place
- simulation
- curobo
- motion-planning
size_categories:
- 100K<n<1M
language:
- en
pretty_name: Unitree G1 Apple Pick and Place Simulation Dataset
---

# Unitree G1 Apple Pick and Place Simulation Dataset

<div align="center">
<table>
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<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>
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<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](https://huggingface.co/jnsungp))
Seoul National University
[e-mail]

## 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

```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](https://curobo.org/), [RoboCasa](https://robocasa.ai/), [MuJoCo](https://mujoco.org/), and Unitree G1.

---

**Version:** 1.0 | **Last Updated:** November 19, 2025