| # SO-101 Pick and Place Dataset (OpenPi Format) | |
| This dataset contains 40 episodes of a simulated SO-101 robot performing pick-and-place tasks, converted to OpenPi/RLDS format for use with Physical Intelligence's Pi0/Pi0.5 models. | |
| ## Source | |
| Converted from LeRobot dataset: `danbhf/sim_pick_place_merged_40ep` | |
| ## Format | |
| Each episode is stored as an NPZ file containing: | |
| | Key | Shape | Type | Description | | |
| |-----|-------|------|-------------| | |
| | `observation/state` | (N, 6) | float32 | Joint positions (6 DoF) | | |
| | `observation/image` | (N, 480, 640, 3) | uint8 | Overhead camera RGB | | |
| | `observation/wrist_image` | (N, 480, 640, 3) | uint8 | Wrist camera RGB | | |
| | `action` | (N, 6) | float32 | Joint actions (6 DoF) | | |
| | `language_instruction` | string | - | Task description | | |
| | `is_first` | (N,) | bool | First step in episode | | |
| | `is_last` | (N,) | bool | Last step in episode | | |
| | `is_terminal` | (N,) | bool | Terminal state | | |
| ## Statistics | |
| - **Episodes**: 40 | |
| - **Total Steps**: 6,559 | |
| - **Task**: "Pick up the block and place it in the bowl" | |
| - **Robot**: SO-101 (6 DoF + gripper) | |
| - **Cameras**: Overhead (main), Wrist | |
| ## Usage | |
| ```python | |
| import numpy as np | |
| # Load an episode | |
| data = np.load("episode_000000.npz", allow_pickle=True) | |
| # Access observations | |
| states = data["observation/state"] # (N, 6) | |
| images = data["observation/image"] # (N, H, W, 3) | |
| actions = data["action"] # (N, 6) | |
| language = str(data["language_instruction"]) | |
| ``` | |
| ## License | |
| Same as source dataset. | |