---
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.