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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 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).
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