---
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"
    }
  }
}
```