Update README.md

README.md

@@ -56,10 +56,10 @@ action_chunk = torch.zeros((1, 24, 20))
 #   - action_dim = 20: following UMI setting (both arms, right to left)
 #     - [0-2]:  RIGHT ARM end effector position in (x, y, z), unit: m
 #     - [3-8]:  RIGHT ARM end effector rotation (6D representation)
-#     - [9]:    RIGHT ARM gripper width, unit: m
+#     - [9]:    RIGHT ARM gripper width, normalized to [0, 0.088], 0.088 means fully open
 #     - [10-12]: LEFT ARM end effector position in (x, y, z), unit: m
 #     - [13-18]: LEFT ARM end effector rotation (6D representation)
-#     - [19]:   LEFT ARM gripper width, unit: m
+#     - [19]:   LEFT ARM gripper width, normalized to [0, 0.088], 0.088 means fully open
 
 # Normalize action
 nsample = normalizer["action"].normalize(action_chunk).cuda()