CarolinePascal/grabette-pick-and-place-texture-0

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 gripette.grasp_projection.GraspProjection —… See the full description on the dataset page: https://huggingface.co/datasets/CarolinePascal/grabette-pick-and-place-textur

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