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Datasets:
legalaspro
/
so101-pick-and-place-cube-lerobot-50hz

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
so101
ros2
teleoperation
imitation-learning
so101-ros-physical-ai
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
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observation.state
list
action
list
timestamp
float32
0
19.8
frame_index
int64
0
988
episode_index
int64
0
50
index
int64
0
32.9k
task_index
int64
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1.54
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1.56
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1.7
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1.76
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1.78
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1.8
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1.96
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1.98
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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

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "so101",
    "total_episodes": 51,
    "total_frames": 32918,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 50,
    "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": 50,
                "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": 50,
                "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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