| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - lerobot |
| - lerobot-v3 |
| - ur7e |
| - real-robot |
| - robot-manipulation |
| - imitation-learning |
| - vision-language-action |
| - vla |
| - cap |
| - pick-and-place |
| - h264 |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/*/*.parquet |
| --- |
| |
| # UR7e CaP Pick-and-Place 100 Episodes |
|
|
| This dataset contains 100 successful forward episodes from a UR7e real-robot CaP pick-and-place session, converted to LeRobot v3 format. |
|
|
| - Repository: `CoRL2026-CSI/UR7e_CaP_PickandPlace_100epi` |
| - Source session: `/home/franka/hscho_workspace/AutoDataCollector-ur7e-v2/results/ur7e/session_20260417_135807` |
| - Selection rule: first 100 forward episodes with `judge_result.prediction == "TRUE"` |
| - Task prompt: `pick up the red block and place it on the blue dish` |
| - Episodes: 100 |
| - Frames: 107,523 |
| - FPS: 30 |
| - Robot: UR7e |
| - Video cameras: `observation.images.realsense_topview`, `observation.images.realsense_wrist` |
| - Video encoding: H.264, yuv420p, 640x480, 30 FPS |
| - Reset episodes: excluded |
|
|
| ## Schema Notes |
|
|
| `observation.state` and `action` are 7D vectors: six UR arm joints in radians plus the gripper position. The action field preserves the logged absolute joint target representation from the source collector. |
|
|
| Additional task/skill context is included in `skill.*` columns, including skill type, progress, language, joint goal, robot/world pose goals, and gripper goal. |
|
|
| ## Loading |
|
|
| ```python |
| from lerobot.datasets.lerobot_dataset import LeRobotDataset |
| |
| dataset = LeRobotDataset("CoRL2026-CSI/UR7e_CaP_PickandPlace_100epi") |
| ``` |
|
|
| ## Provenance |
|
|
| See `meta/source_session.json` for the selected source episode names and per-episode frame counts. |
|
|
