Bigenlight/bowl_stack_lighting_raw

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 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.