Datasets:
Are gripper positions normalized to [0,1]? (actions.right_gripper.position / states.right_gripper.position)
Hi, thanks for your great work! I wonder whether gripper values such as actions.right_gripper.position are intended to be normalized to the range [0, 1].
I found that in sim/basic_tasks/genie1/meta/episodes_stats.jsonl, episode 1708 reports a maximum states.right_gripper.position value of 4.56, which suggests it may not be normalized to [0, 1]. Could you clarify the intended gripper value convention and the recommended way to obtain a normalized gripper state?
Dear shaneH2000,
Regarding the Genie1 robot, the minimum and maximum values for states.left_gripper.position and states.right_gripper.position are [0.0, 5.74], where 0.0 corresponds to the gripper being fully closed and 5.74 to fully open. You may apply min-max normalization to scale these values appropriately.
Best regards,
Yang Tian
2026.1.9
Dear shaneH2000,
Regarding the Genie1 robot, the minimum and maximum values for states.left_gripper.position and states.right_gripper.position are [0.0, 5.74], where 0.0 corresponds to the gripper being fully closed and 5.74 to fully open. You may apply min-max normalization to scale these values appropriately.
Best regards,
Yang Tian2026.1.9
Thank you for your reply. Could you provide the per-embodiment ranges (min/max) for every embodiment in the dataset? This will help me normalize the signals consistently across robots.
Dear shaneH2000,
For Genie1 robot, min, max is [0.0, 5.74], where 0.0 is closed, 5.74 is open.
For ARX Lift-2 robot, min, max is [0.0, 0.088], where 0.0 is closed, 0.088 is open.
For AgileX Split Aloha, min, max is [0.0, 0.10], where 0.0 is closed, 0.10 is open.
For Franka with panda hand, min, max is [0.0, 0.08], where 0.0 is closed, 0.08 is open.
For Franka with Robotiq-2f-85 gripper, min, max is [0.0, 1.0], where 0.0 is closed, and 1.0 is open.
Best Regards,
Yang Tian
2026.1.11