---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- piper
- robotis
- end-effector
- quaternion
---

# piper_pick_and_drop_200_240x320_eef

This dataset is an end-effector action space version of [BotBarry/piper_pick_and_drop_200_240x320](https://huggingface.co/datasets/BotBarry/piper_pick_and_drop_200_240x320).

## Changes

- **Action Space**: Converted from joint angles to end-effector pose with quaternions
- **State Space**: Remains as joint angles (unchanged)
- Videos remain unchanged

## Data Format

### Action (8D - End-Effector Space)
```
[X, Y, Z, Qx, Qy, Qz, Qw, Gripper]
```

Where:
- X, Y, Z: End-effector position in meters
- Qx, Qy, Qz, Qw: End-effector orientation as quaternion
- Gripper: Gripper joint value

### State (7D - Joint Space)
```
[Joint1, Joint2, Joint3, Joint4, Joint5, Joint6, Gripper]
```

State remains in joint angles for proprioceptive feedback.

## Conversion Method

Forward kinematics computed using Pinocchio library with the Piper robot URDF.

## Usage
```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("BotBarry/piper_pick_and_drop_200_240x320_eef")

# Action is now 8D: [x, y, z, qx, qy, qz, qw, gripper]
# State is still 7D: [joint1-6, gripper]
```

## Citation

Please cite the original dataset if you use this converted version.