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README.md

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+---
+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.