| --- |
| tags: |
| - robotics |
| - ur7e |
| - robotiq-2f85 |
| - bowl-stacking |
| - raw-data |
| - additional-lighting |
| license: apache-2.0 |
| --- |
| |
| # Bowl stack with additional lighting — raw recordings |
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| **Task:** `Stack the orange bowl on the purple bowl.` |
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| These are the unmodified 2026-09-18 UR7e + GELLO recorder outputs for grasping the orange bowl and placing it on top of the purple bowl. |
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| Task scene captured on 2026-09-18. The two visible softbox lights are the additional-lighting setup used during collection. |
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| ## Collection condition |
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| **Additional task lighting was installed and used throughout this collection.** This is intentionally distinct from earlier `bowl_stack` recordings without the added lighting setup. |
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| ## Layout |
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| `raw/<original-take-name>/` preserves every source directory name and contains: |
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| - `vectors.h5` — time-series robot, command, gripper, and camera-frame metadata |
| - `cam1.mp4`, `cam2.mp4` — RGB recordings |
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| There are 71 takes and 213 raw files. No depth data was recorded. |
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| ## Folder-label tags |
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| Take folder names are retained verbatim and are the source of the labels: |
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| - `other_side`: object arrangement/starting-side variation. |
| - `recover`: retry after a failed task attempt; preserve for recovery-case evaluation. |
| - `recover_other_side`: both conditions apply. |
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| The converted dataset records these labels per episode in its metadata: [Bigenlight/bowl_stack_lighting_lerobot_v3](https://huggingface.co/datasets/Bigenlight/bowl_stack_lighting_lerobot_v3). |
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