# 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.