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license: other
---

# hang_cup

双臂 Flexiv 数据采集数据集，任务指令：`Hang the cup on the rack`。

- Episodes: 30 (`episode_0000`–`episode_0029`)
- Total frames: 15472
- Recording rate: 30 Hz
- Control rate: 100 Hz
- Cameras: left `260322279602`, right `260322271470`, overview `254522075549`
- Each episode contains three camera image streams, synchronized frame index, robot state JSONL, joint-position CSVs, EEF-pose CSVs, and metadata.
- Joint angles are recorded in radians in the observation/action CSVs; `metadata.json` start-position fields are in degrees.
- Observation `gripper` is measured gripper width in meters; action `gripper` is normalized command in `[0, 1]`.

This dataset was exported from `/home/asus/flexiv_datasets/hang_cup` without changing the source files.