Search is not available for this dataset
observation.state list | action list | timestamp float32 0 16.4 | frame_index int64 0 491 | episode_index int64 0 5 | index int64 0 2.53k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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0.4356505572795868
] | [
-0.29145634174346924,
0.5292233824729919,
-0.5691068768501282,
1.7027186155319214,
0.6872233748435974,
0.5276893973350525
] | 3.166667 | 95 | 0 | 95 | 0 |
[
-0.3298058807849884,
0.5368932485580444,
-0.5706408619880676,
1.6306215524673462,
0.6795535087585449,
0.46172821521759033
] | [
-0.27765053510665894,
0.5322913527488708,
-0.5568350553512573,
1.6935148239135742,
0.6872233748435974,
0.5276893973350525
] | 3.2 | 96 | 0 | 96 | 0 |
[
-0.3129320740699768,
0.5368932485580444,
-0.5660389065742493,
1.6306215524673462,
0.6795535087585449,
0.4832039475440979
] | [
-0.2715145945549011,
0.5368932485580444,
-0.5399612188339233,
1.6766409873962402,
0.6872233748435974,
0.5276893973350525
] | 3.233333 | 97 | 0 | 97 | 0 |
[
-0.29145634174346924,
0.5399612188339233,
-0.5537670850753784,
1.6306215524673462,
0.6795535087585449,
0.5000777244567871
] | [
-0.26998060941696167,
0.5399612188339233,
-0.5322913527488708,
1.6720390319824219,
0.6872233748435974,
0.5276893973350525
] | 3.266667 | 98 | 0 | 98 | 0 |
[
-0.28071847558021545,
0.5414952039718628,
-0.5430291891098022,
1.6306215524673462,
0.6795535087585449,
0.5062136650085449
] | [
-0.26998060941696167,
0.5430291891098022,
-0.5200194716453552,
1.665903091430664,
0.685689389705658,
0.5276893973350525
] | 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": 6,
"total_frames": 2531,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:6"
},
"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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