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license: cc-by-4.0
---
# PhysicalAI-Robotics-GR00T-X-Embodiment-Sim

![image/png](https://cdn-uploads.huggingface.co/production/uploads/67b8da81d01134f89899b4a7/PppFm7zvXyJblkMOq-YRQ.png)

Github Repo: [Isaac GR00T N1](https://github.com/NVIDIA/Isaac-GR00T)

We provide a set of datasets used for post-training of GR00T N1. Each dataset is a collection of trajectories from different robot embodiments and tasks.

###  Cross-embodied bimanual manipulation: 9k trajectories

| Dataset Name | #trajectories |
| - | -|
| bimanual_panda_gripper.Threading | 1000 |
| bimanual_panda_hand.LiftTray | 1000 |
| bimanual_panda_gripper.ThreePieceAssembly | 1000 |
| bimanual_panda_gripper.Transport | 1000 |
| bimanual_panda_hand.BoxCleanup | 1000 |
| bimanual_panda_hand.DrawerCleanup | 1000 |
| gr1_arms_only.CanSort | 1000 |
| gr1_full_upper_body.Coffee | 1000 |
| gr1_full_upper_body.Pouring | 1000 |

### Humanoid robot tabletop manipulation: 40k trajectories

| Dataset Name | #trajectories |
| - | -|
| gr1_arms_waist.CanToDrawer | 1000 | 
| gr1_arms_waist.CupToDrawer | 1000 | 
| gr1_arms_waist.CuttingboardToBasket | 1000 | 
| gr1_arms_waist.CuttingboardToCardboardBox | 1000 | 
| gr1_arms_waist.CuttingboardToPan | 1000 | 
| gr1_arms_waist.CuttingboardToPot | 1000 | 
| gr1_arms_waist.CuttingboardToTieredBasket | 1000 | 
| gr1_arms_waist.PlaceBottleToCabinet | 1000 | 
| gr1_arms_waist.PlaceMilkToMicrowave | 1000 | 
| gr1_arms_waist.PlacematToBasket | 1000 | 
| gr1_arms_waist.PlacematToBowl | 1000 | 
| gr1_arms_waist.PlacematToPlate | 1000 | 
| gr1_arms_waist.PlacematToTieredShelf | 1000 | 
| gr1_arms_waist.PlateToBowl | 1000 | 
| gr1_arms_waist.PlateToCardboardBox | 1000 | 
| gr1_arms_waist.PlateToPan | 1000 | 
| gr1_arms_waist.PlateToPlate | 1000 | 
| gr1_arms_waist.PotatoToMicrowave | 1000 | 
| gr1_arms_waist.TrayToCardboardBox | 1000 | 
| gr1_arms_waist.TrayToPlate | 1000 | 
| gr1_arms_waist.TrayToPot | 1000 | 
| gr1_arms_waist.TrayToTieredBasket | 1000 | 
| gr1_arms_waist.TrayToTieredShelf | 1000 | 
| gr1_arms_waist.WineToCabinet | 1000 | 


### Robot Arm Kitchen Manipulation: 24K trajectories
| Dataset Name | #trajectories |
| - | -|
| single_panda_gripper.CloseDoubleDoor | 1000 |
| single_panda_gripper.CloseDrawer | 1000 |
| single_panda_gripper.CloseSingleDoor | 1000 |
| single_panda_gripper.CoffeePressButton | 1000 |
| single_panda_gripper.CoffeeServeMug | 1000 |
| single_panda_gripper.CoffeeSetupMug | 1000 |
| single_panda_gripper.OpenDoubleDoor | 1000 |
| single_panda_gripper.OpenDrawer | 1000 |
| single_panda_gripper.OpenSingleDoor | 1000 |
| single_panda_gripper.PnPCabToCounter | 1000 |
| single_panda_gripper.PnPCounterToCab | 1000 |
| single_panda_gripper.PnPCounterToMicrowave | 1000 |
| single_panda_gripper.PnPCounterToSink | 1000 |
| single_panda_gripper.PnPCounterToStove | 1000 |
| single_panda_gripper.PnPMicrowaveToCounter | 1000 |
| single_panda_gripper.PnPSinkToCounter | 1000 |
| single_panda_gripper.PnPStoveToCounter | 1000 |
| single_panda_gripper.TurnOffMicrowave | 1000 |
| single_panda_gripper.TurnOffSinkFaucet | 1000 |
| single_panda_gripper.TurnOffStove | 1000 |
| single_panda_gripper.TurnOnMicrowave | 1000 |
| single_panda_gripper.TurnOnSinkFaucet | 1000 |
| single_panda_gripper.TurnOnStove | 1000 |
| single_panda_gripper.TurnSinkSpout | 1000 |


## Download the dataset from Huggingface

Users can download a specific subset of data by specifying the dataset name.

```bash
huggingface-cli download  nvidia/GR00T-Sim-Post-Training-Data\
  --repo-type dataset \
  --include "gr1_arms_only.CanSort/**" \
  --local-dir $HOME/gr00t_dataset
```

**Replace `robocasa_gr1_arms_only_fourier_hands.TwoArmCanSortPadRes256Freq20_30/**` with the dataset name you want to download.**