Embodiment: 6 or 7 axis industrial or collaborative arm (UR, Franka, KUKA, ABB, Fanuc or similar) with a parallel or custom gripper. Modalities: 6-axis wrist force/torque at 100 Hz or more, joint states and commanded actions, at least two RGB views (one wrist, one fixed), depth welcome. Tasks: peg and connector insertion, press fits, screwing and fastening, snap fits, cable and hose routing. At least 10 distinct parts. Environment: a working factory cell or a production-like bench. Labels: task string per episode, success or failure, contact phase timestamps where available. Format: LeRobot v3.0 (we can convert v2.1, MCAP or raw video with Prep). Acceptance: passes Soul Verified validation (decodes, streams in sync, every episode labelled) on a 2 hour sample before the full order. Rate is final after the sample is validated. Rate: $80 to $120 per capture hour, final on validation.
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