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MuJoCo Pick-and-Place Dataset
Dataset Information
- Task: Pick and place manipulation with Open Manipulator-X
- Episodes: 10
- Total Frames: 258
- FPS: 30
- Robot: open_manipulator_x
Features
- observation.image: RGB camera feed (480x640x3)
- observation.state: Robot state (10D vector)
- Joint positions (4D): joint_1, joint_2, joint_3, joint_4
- Gripper positions (2D): gripper_left, gripper_right
- Gripper tip position (3D): tip_x, tip_y, tip_z
- Grasp state (1D): grasp_active
- action: Next robot action (5D vector)
- Target joint positions (4D): joint_1_target, joint_2_target, joint_3_target, joint_4_target
- Target gripper position (1D): gripper_target
- language_instruction: Task description in natural language
Usage
import pandas as pd
from pathlib import Path
# Load episode data
episode_df = pd.read_parquet("data/episode_000000.parquet")
# Load images
from PIL import Image
img = Image.open(episode_df.iloc[0]["image_path"])
Dataset Structure
video_demo/
├── data/ # Episode data (parquet files)
├── meta/ # Metadata (info.json, episodes.jsonl)
├── images/ # RGB observation images
└── README.md # This file
Generated with MuJoCo Pick-and-Place Video Creator
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