What is Robot Gripper Data?
Robot Gripper Data — episodes and signals tied to the end effector: width, force, vacuum pressure and whether the grasp held.
The gripper decides what the data can teach, and the categories differ enough that sets rarely transfer between them. Parallel-jaw electric grippers — the Robotiq 2F-85, whose name states its 85 mm stroke, is the common one — record width and force. Vacuum grippers record pressure and seal events, a different kind of signal: a suction cup either seals or it does not, and the failure is silent. Soft grippers deform, so their true state is only partly observable from commanded position.
Two practical complications. First, the gripper occludes the camera exactly where the grasp happens; a wrist-mounted camera sees the approach, not the contact, which is why gripper data is often fused with force or tactile sensing rather than vision alone. Second, the grasp moment is a spike, not a steady state — success is decided in the tens of milliseconds around contact, so sampling rate near that moment matters more than total episode length.
Because stroke, force range and finger geometry all change the pose that works, gripper-specific data is scoped around the tool. It can be commissioned to order with the gripper named in the brief — including projects where the client ships the gripper to the collection site so the demonstrations are recorded on the exact hardware that will run the policy.
Related terms
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Grasping Data
Grasping Data — images, depth maps or point clouds of objects, annotated with the gripper poses that would pick each one up.
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Tactile Sensor Data
Tactile Sensor Data — contact measurements from a robot's fingertips or skin: pressure, force and, in optical sensors, images of the contact itself.
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Dexterous Hand Data
Dexterous Hand Data — demonstrations for multi-fingered robot hands, including in-hand manipulation that a two-finger gripper cannot do.
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