xArm7 phone-teleop dataset for charger ("pick up the charger and plug it into the nearest plug") with the binmarker
tactile overlay burned into the camera frames: one arrow per gripper finger
(anchored at the finger center pad via forward kinematics) with fixed length
AND fixed direction (the sensor-frame pad normal — a rigid "flag" on the
finger), drawn iff that finger's binary contact state is ON. Ported from
LIBERO_contact_overlay's
binbars style… See the full description on the dataset page:
https://huggingface.co/datasets/EdwardoSunny/xarm_charger_binmarker.
