SteveNguyen/red_cube_blue_box_pi05_step20000
Robotics • 4B • Updated
Datasets:
226 episodes · 50 fps · 1 camera · 480×360 h264
graspproj
Gripper channels are (strategy, closure), not joint angles: the last two channels of action and observation.state are normalised to the gripper's reachable travel. In action, closure = 1.0 means "drive fully closed" and the object stops the fingers; in observation.state closure stays continuous, so "am I holding something" remains observable.
The exact calibration is recorded in meta/grasp_projection.json. Decode with grabette_dataset_tools.grasp_projection.GraspProjection — see grasp_projection.md.
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