---
tags:
  - robotics
  - ur7e
  - robotiq-2f85
  - bowl-stacking
  - raw-data
  - additional-lighting
license: apache-2.0
---

# Bowl stack with additional lighting — raw recordings

**Task:** `Stack the orange bowl on the purple bowl.`

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.

![Task scene: UR7e, orange and purple bowls, cameras, and the added softbox lighting](assets/20260918_210710_task_scene.jpg)

Task scene captured on 2026-09-18. The two visible softbox lights are the additional-lighting setup used during collection.

## Collection condition

**Additional task lighting was installed and used throughout this collection.** This is intentionally distinct from earlier `bowl_stack` recordings without the added lighting setup.

## Layout

`raw/<original-take-name>/` preserves every source directory name and contains:

- `vectors.h5` — time-series robot, command, gripper, and camera-frame metadata
- `cam1.mp4`, `cam2.mp4` — RGB recordings

There are 71 takes and 213 raw files. No depth data was recorded.

## Folder-label tags

Take folder names are retained verbatim and are the source of the labels:

- `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.

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).