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piper_pick_and_drop_200_240x320_eef
This dataset is an end-effector action space version of 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
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.
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