legalaspro/smolvla-so101-pick-place-cube-30hz-v1
Robotics • Updated • 3
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observation.state list | action list | timestamp float32 0 19.7 | frame_index int64 0 592 | episode_index int64 0 50 | index int64 0 19.8k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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[
0.019941750913858414,
0.33900976181030273,
-0.1871456503868103,
1.544718623161316,
0.5506991147994995,
0.7792622447013855
] | [
0.019941750913858414,
0.3298058807849884,
-0.18100973963737488,
1.5324468612670898,
0.5322913527488708,
0.7884660959243774
] | 3.166667 | 95 | 0 | 95 | 0 |
[
0.026077672839164734,
0.33900976181030273,
-0.18100973963737488,
1.5431846380233765,
0.5460971593856812,
0.780796229839325
] | [
0.01840776950120926,
0.3298058807849884,
-0.18100973963737488,
1.5155730247497559,
0.5062136650085449,
0.7884660959243774
] | 3.2 | 96 | 0 | 96 | 0 |
[
0.026077672839164734,
0.33900976181030273,
-0.17947575449943542,
1.5355147123336792,
0.5353593230247498,
0.780796229839325
] | [
0.01840776950120926,
0.3298058807849884,
-0.18100973963737488,
1.5017671585083008,
0.4908738434314728,
0.7884660959243774
] | 3.233333 | 97 | 0 | 97 | 0 |
[
0.023009711876511574,
0.33900976181030273,
-0.17947575449943542,
1.5232429504394531,
0.5246214270591736,
0.780796229839325
] | [
0.019941750913858414,
0.3298058807849884,
-0.18100973963737488,
1.4971652030944824,
0.4862719178199768,
0.7884660959243774
] | 3.266667 | 98 | 0 | 98 | 0 |
[
0.016873788088560104,
0.33900976181030273,
-0.17640778422355652,
1.512505054473877,
0.5077476501464844,
0.780796229839325
] | [
0.02147573046386242,
0.33133983612060547,
-0.18100973963737488,
1.4864274263381958,
0.480135977268219,
0.7884660959243774
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand in Data Studio
SO-101 pick-and-place demonstration episodes recorded in ROS 2 Jazzy and stored as rosbag2 (MCAP).
Converted into LeRobot format using the rosbag_to_lerobot converter from:
https://github.com/legalaspro/so101-ros-physical-ai
Data includes
- Wrist camera video:
observation.images.wrist - Top/static camera video:
observation.images.top - Joint positions:
observation.state(6-DoF,.pos) - Position commands:
action(6-DoF position commands)
Intended use
Behavior cloning / imitation learning baselines, dataset tooling tests, and ROS→LeRobot conversion examples.
Dataset Structure
Show meta/info.json
{
"codebase_version": "v3.0",
"robot_type": "so101",
"total_episodes": 51,
"total_frames": 19764,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:51"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.images.wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
Citation
BibTeX:
@misc{manajev2026so101_ros2_lerobot,
title = {SO-101 ROS 2 Pick-and-Place Dataset (LeRobot format)},
author = {Manajev, Dmitri},
year = {2026},
howpublished = {Hugging Face Datasets},
note = {Converted from ROS 2 rosbag2 (MCAP) using so101-ros-physical-ai},
}
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