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  1. README.md +49 -0
  2. episode_000000.npz +3 -0
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README.md ADDED
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+ # SO-101 Pick and Place Dataset (OpenPi Format)
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+
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+ 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.
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+
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+ ## Source
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+
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+ Converted from LeRobot dataset: `danbhf/sim_pick_place_merged_40ep`
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+
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+ ## Format
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+
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+ Each episode is stored as an NPZ file containing:
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+
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+ | Key | Shape | Type | Description |
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+ |-----|-------|------|-------------|
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+ | `observation/state` | (N, 6) | float32 | Joint positions (6 DoF) |
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+ | `observation/image` | (N, 480, 640, 3) | uint8 | Overhead camera RGB |
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+ | `observation/wrist_image` | (N, 480, 640, 3) | uint8 | Wrist camera RGB |
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+ | `action` | (N, 6) | float32 | Joint actions (6 DoF) |
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+ | `language_instruction` | string | - | Task description |
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+ | `is_first` | (N,) | bool | First step in episode |
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+ | `is_last` | (N,) | bool | Last step in episode |
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+ | `is_terminal` | (N,) | bool | Terminal state |
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+
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+ ## Statistics
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+
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+ - **Episodes**: 40
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+ - **Total Steps**: 6,559
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+ - **Task**: "Pick up the block and place it in the bowl"
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+ - **Robot**: SO-101 (6 DoF + gripper)
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+ - **Cameras**: Overhead (main), Wrist
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+
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+ ## Usage
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+
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+ ```python
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+ import numpy as np
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+
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+ # Load an episode
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+ data = np.load("episode_000000.npz", allow_pickle=True)
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+
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+ # Access observations
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+ states = data["observation/state"] # (N, 6)
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+ images = data["observation/image"] # (N, H, W, 3)
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+ actions = data["action"] # (N, 6)
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+ language = str(data["language_instruction"])
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+ ```
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+
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+ ## License
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+
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+ Same as source dataset.
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+ {
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+ "source_dataset": "danbhf/sim_pick_place_merged_40ep",
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+ "main_camera": "overhead_cam",
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+ "wrist_camera": "wrist_cam",
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+ "language_instruction": "Pick up the block and place it in the bowl",
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+ "action_key": "action",
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+ "format": "npz",
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+ "stats": {
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+ "total_episodes": 40,
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+ "total_steps": 6559,
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+ "skipped_episodes": 0,
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+ "errors": []
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+ }
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+ }