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G1 Factory Simulation Assets
Dataset Description
G1 Factory provides the simulation assets used by the nine-task G1 Factory benchmark: a factory scene, a Unitree G1 robot model, objects, materials, and textures. The assets support whole-body humanoid locomanipulation in Isaac Lab-Arena, including box lifting and shelving, drill manipulation, button pressing, and moving a shelving cart.
This dataset is ready for commercial or non-commercial use.
The human demonstrations and fine-tuned GR00T N1.7 policy are distributed separately.
Dataset Owner(s)
NVIDIA Corporation
Dataset Creation Date
2026-10-21 (initial upload commit on Hugging Face, UTC).
Version
v1.0
Previous Version(s): No previous version
License/Terms of Use
Intended Usage
Building scenes, collecting demonstrations, and training or evaluating humanoid locomanipulation policies within the G1 Factory simulation environment only. Use the assets with G1 Factory's scene and robot configurations.
Dataset Characterization
Data Collection Method: Synthetic; curated computer graphics assets assembled for robot simulation.
Labeling Method: Not Applicable
Asset categories and scene structure are specified by the benchmark. No per-example annotation dataset is included.
The collection contains authored and adapted scene, robot, and object models with associated materials and textures. The synthetic source describes simulation assets; it does not indicate that a generative AI model produced them.
Dataset Format
Modality: 3d, image
Format: OpenUSD (USD and USDZ), MDL, PNG
| Directory | Contents |
|---|---|
factory/ |
Factory room |
g1_robot/ |
Unitree G1 robot model |
cardboard_box/ |
Small box |
long_box/ |
Long box |
factory_ergo_table/ |
Factory table |
industrial_steel_shelving/ |
Industrial shelving |
mobile_shelving_cart/ |
Wheeled shelving cart |
power_drill_01/ |
Power drill, variant 01 |
power_drill_02/ |
Power drill, variant 02 |
power_drill_holder/ |
Drill holder |
control_box/ |
Control console and button |
target_zone/ |
Target marker |
Dataset Quantification
Record Count: 13 scene/model entry points across 12 asset groups. The size bin counts scene/model entry points.
Feature Count: Not Applicable; the assets do not share a fixed tabular feature schema.
File Count: 92 asset files: 12 USD, 1 USDZ, 21 MDL, and 58 PNG.
Total Data Storage: 818,167,672 bytes, approximately 818.17 MB, excluding Git metadata and repository documentation.
Packaged Textures: The USDZ also contains 13 PNG textures, for 71 texture images in total. Packaged files are included in the USDZ's storage size.
Usage
From the G1 Factory source repository:
git lfs install
mkdir -p datasets
git clone https://huggingface.co/datasets/nvidia/G1-Factory datasets/assets
Follow the G1 Factory setup instructions to install the simulator and run the tasks. Some USD materials reference NVIDIA-hosted resources that may be fetched during loading.
Reference(s)
Ethical Considerations
NVIDIA believes Trustworthy AI is a shared responsibility and we have established policies and practices to enable development for a wide array of AI applications. Developers should work with their internal developer teams to ensure this dataset meets requirements for the relevant industry and use case and addresses unforeseen product misuse.
These assets are intended for use in the G1 Factory simulation environment only. They are not intended for physical robot operation or mission-critical applications requiring functional safety. Their geometry, materials, and physics parameters may differ from physical equipment and real-world conditions. Simulation results alone do not establish the accuracy or safety of physical systems.
Please report quality, risk, security vulnerabilities or NVIDIA AI Concerns here.
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