dongseop08/capstone

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

data/
  blue/
    joint_trajectories.csv
  yellow/
    joint_trajectories.csv
  red/
    joint_trajectories.csv
dataset_summary.json
joint_trajectory_summary.json
manifest.csv

Generation Summary

{
  "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"
    }
  }
}