frame_index int64 0 24 | episode_index int64 0 0 | timestamp float64 0 0.8 | observation.image listlengths 922k 922k | language_instruction stringclasses 1
value | task_index int64 0 0 | observation.state listlengths 6 6 | action listlengths 5 5 |
|---|---|---|---|---|---|---|---|
0 | 0 | 0 | [117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117(...TRUNCATED) | Pick the cylinder and place it at the goal position | 0 | [1.1429636478424072,0.3462490439414978,-0.7891761064529419,0.25613775849342346,0.014999999664723873,(...TRUNCATED) | [
1.1429636478424072,
0.3462490439414978,
-0.7891761064529419,
0.25613775849342346,
0.014999999664723873
] |
1 | 0 | 0.033333 | [117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117(...TRUNCATED) | Pick the cylinder and place it at the goal position | 0 | [1.1429636478424072,0.3462490439414978,-0.7891761064529419,0.25613775849342346,0.014999999664723873,(...TRUNCATED) | [
1.1429636478424072,
0.3462490439414978,
-0.7891761064529419,
0.25613775849342346,
0.014999999664723873
] |
2 | 0 | 0.066667 | [117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117(...TRUNCATED) | Pick the cylinder and place it at the goal position | 0 | [1.1429636478424072,0.3462490439414978,-0.7891761064529419,0.25613775849342346,0.014999999664723873,(...TRUNCATED) | [
1.1429636478424072,
0.3462490439414978,
-0.7891761064529419,
0.25613775849342346,
0.014999999664723873
] |
3 | 0 | 0.1 | [117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117(...TRUNCATED) | Pick the cylinder and place it at the goal position | 0 | [1.1429636478424072,0.3462490439414978,-0.7891761064529419,0.25613775849342346,0.014999999664723873,(...TRUNCATED) | [
1.1429636478424072,
0.3462490439414978,
-0.7891761064529419,
0.25613775849342346,
0.014999999664723873
] |
4 | 0 | 0.133333 | [117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117(...TRUNCATED) | Pick the cylinder and place it at the goal position | 0 | [1.1429636478424072,0.3462490439414978,-0.7891761064529419,0.25613775849342346,0.014999999664723873,(...TRUNCATED) | [
1.1429636478424072,
0.3462490439414978,
-0.7891761064529419,
0.25613775849342346,
0.014999999664723873
] |
5 | 0 | 0.166667 | [117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117(...TRUNCATED) | Pick the cylinder and place it at the goal position | 0 | [0.6667287945747375,0.2613900899887085,-0.46826016902923584,0.44983038306236267,0.014999999664723873(...TRUNCATED) | [0.6667287945747375,0.2613900899887085,-0.46826016902923584,0.44983038306236267,0.014999999664723873(...TRUNCATED) |
6 | 0 | 0.2 | [117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117(...TRUNCATED) | Pick the cylinder and place it at the goal position | 0 | [-1.221891476888004e-9,0.14255781471729279,-0.018980722874403,0.720996618270874,0.014999999664723873(...TRUNCATED) | [-1.221891476888004e-9,0.14255781471729279,-0.018980722874403,0.720996618270874,0.014999999664723873(...TRUNCATED) |
7 | 0 | 0.233333 | [117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117(...TRUNCATED) | Pick the cylinder and place it at the goal position | 0 | [0.13574498891830444,0.6164525151252747,-0.44431260228157043,0.36417487263679504,0.01499999966472387(...TRUNCATED) | [0.13574498891830444,0.6164525151252747,-0.44431260228157043,0.36417487263679504,0.01499999966472387(...TRUNCATED) |
8 | 0 | 0.266667 | [117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117(...TRUNCATED) | Pick the cylinder and place it at the goal position | 0 | [0.21719197928905487,0.8547877073287964,-0.6840890049934387,0.14239828288555145,0.003551115049049258(...TRUNCATED) | [0.21719197928905487,0.8547877073287964,-0.6840890049934387,0.14239828288555145,0.003551115049049258(...TRUNCATED) |
9 | 0 | 0.3 | [117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117,117(...TRUNCATED) | Pick the cylinder and place it at the goal position | 0 | [0.21719197928905487,0.7166120409965515,-0.6378158330917358,0.11934346705675125,0.006535731256008148(...TRUNCATED) | [0.21719197928905487,0.7166120409965515,-0.6378158330917358,0.11934346705675125,0.006535731256008148(...TRUNCATED) |
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MuJoCo Pick-and-Place Dataset
Dataset Information
- Task: Pick and place manipulation with Open Manipulator-X
- Episodes: 100
- Total Frames: 2558
- 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
smolvla_head1/
├── 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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