xArm7 phone-teleop dataset for charger ("pick up the charger and plug it into the nearest plug") with the points9_arrow_len0
tactile overlay burned into the camera frames: 9 dots per gripper finger drawn at their
real 3D tactile-pad positions (forward kinematics, projected through camera intrinsics),
with force arrows rendered at zero length (arrow_length_scale=0).
This is the force-ablation control for the points9_arrow variant: identical dot… See the full description on the dataset page:
https://huggingface.co/datasets/EdwardoSunny/xarm_charger_points9_arrow_len0.
