| --- |
| license: other |
| task_categories: |
| - robotics |
| - video-classification |
| tags: |
| - imitation-learning |
| - mujoco |
| - robot-arm |
| - robotics |
| - so101 |
| - grasping |
| pretty_name: SO-101 Color-Split Grasp Trajectory Dataset |
| --- |
| |
| # SO-101 Color-Split Grasp Trajectory Dataset |
|
|
| This dataset contains 540 SO-101 robot-arm block grasp trajectories generated in MuJoCo and split by target block color. |
|
|
| - blue: 180 trajectories |
| - yellow: 180 trajectories |
| - red: 180 trajectories |
|
|
| Each color subset contains: |
|
|
| - `trajectory_summary.csv`: per-trajectory metadata and success fields |
| - `joint_trajectories.csv`: per-step joint states and action commands for learning |
| - `batch_summary.json`: subset summary |
| - `index.html`: visual index for the color subset |
| - `*_camera1_sequence.mp4`, `*_camera2_sequence.mp4`, `*_camera3_sequence.mp4`: concatenated visualization videos |
|
|
| All rows in the prepared package have `grasp_lifted=True`. |
|
|
| ## Learning Columns |
|
|
| Use `joint_trajectories.csv` for robot learning. Each row is one simulation step in one trajectory. |
|
|
| - State joints: `actual_shoulder_pan_deg`, `actual_shoulder_lift_deg`, `actual_elbow_flex_deg`, `actual_wrist_flex_deg`, `actual_wrist_roll_deg`, `actual_gripper_deg` |
| - Action/command joints: `target_shoulder_pan_deg`, `target_shoulder_lift_deg`, `target_elbow_flex_deg`, `target_wrist_flex_deg`, `target_wrist_roll_deg`, `target_gripper_deg` |
| - Command error: `delta_*_deg = target_*_deg - actual_*_deg` |
| - Extra context: `phase`, `target_color`, `style`, `target_x`, `target_y`, target block position, jaw center, fingertip positions, reward, distance, lift height, contact flags |
|
|
| The dataset includes 363,288 per-step joint rows in total: 121,096 rows for each target color. |
|
|
| ## Layout |
|
|
| ```text |
| data/ |
| blue/ |
| joint_trajectories.csv |
| yellow/ |
| joint_trajectories.csv |
| red/ |
| joint_trajectories.csv |
| dataset_summary.json |
| joint_trajectory_summary.json |
| manifest.csv |
| ``` |
|
|
| ## Generation Summary |
|
|
| ```json |
| { |
| "source_batch_name": "20260603_031736_three_target_colors_line120_y220_target_only_robot_lr30mm_angles5_permutations_540", |
| "total_trajectories": 540, |
| "joint_trajectory_rows": 363288, |
| "joint_columns": { |
| "state": "actual_*_deg", |
| "action_command": "target_*_deg", |
| "error": "delta_*_deg", |
| "joints": [ |
| "shoulder_pan", |
| "shoulder_lift", |
| "elbow_flex", |
| "wrist_flex", |
| "wrist_roll", |
| "gripper" |
| ] |
| }, |
| "colors": { |
| "blue": { |
| "trajectories": 180, |
| "grasp_lifted": 180, |
| "joint_trajectory_rows": 121096, |
| "path": "data/blue" |
| }, |
| "yellow": { |
| "trajectories": 180, |
| "grasp_lifted": 180, |
| "joint_trajectory_rows": 121096, |
| "path": "data/yellow" |
| }, |
| "red": { |
| "trajectories": 180, |
| "grasp_lifted": 180, |
| "joint_trajectory_rows": 121096, |
| "path": "data/red" |
| } |
| } |
| } |
| ``` |
|
|
