---
license: cc-by-4.0
tags: [LeRobot, robotics, manipulation, imitation-learning]
task_categories: [robotics]
size_categories: [1K<n<10K]
---

# datagen-jar-v1-joint-5cam

Auto-generated SFT dataset for the **jar_transport** family (close an articulated hinged jar's lid,
then side-grasp the closed jar and carry it to a goal region) — cuRobo-planned, physics- &
LTL-safety-checked demos, converted to **LeRobot v2.1**.

- **Creator:** yypeng666 (IDEAS-Lab-Northwestern)
- **Source bench:** [IDEAS-Lab-Northwestern/ManiGuard-Bench](https://huggingface.co/datasets/IDEAS-Lab-Northwestern/ManiGuard-Bench) — all 26 `jar_transport` base tasks.
- **Per task:** 40 success + LTL-safe trajectories → **1040 episodes**.

## Contents
| | |
|---|---|
| Episodes | 1040 (26 base tasks × 40) |
| Frames | 946,870 |
| Unique language tasks | 21 |
| Robot / control | FrankaPanda / absolute joint |
| FPS / resolution / format | 30 / 256×256 / LeRobot v2.1 |

## Task
The robot closes an articulated hinged jar's lid — one straight "lid-ride" push of the open gripper
under the flopped lid, lifting it past its tipping point so gravity seats it shut — then side-grasps
the closed jar and transports it into the green goal sphere. Per-episode prompt (`meta/tasks.jsonl`)
from the base task diagnostics. A demo must reach the goal AND stay LTL-safe throughout (jar upright,
not dropped, on its support until closed); failed / unsafe attempts are dropped.

## Schema
`state`(8)=`[arm_q(7),gripper(1)]`; `actions`(8)=`[arm_q[t+1](7),gripper_cmd(1)]` next-achieved
(**default SFT target**); `actions_commanded`(8)=`[curobo_target_q(7),gripper_cmd(1)]` (cuRobo command,
extra). Absolute joint (delta at train time). Cameras (all 5 kept, pick subset at train time):
`image_opposite,image_left,image_right,image_left_shoulder` (third-person) + `wrist_image`.

## Notes
- Camera subset + arm-joint delta are TRAIN-time choices; all 5 streams + absolute joints ship here.
- MimicGen sim-state replay dump is NOT included (kept in the raw archive; not needed for SFT).

## License

Released under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/) (see [`LICENSE`](LICENSE)).
The generated artifacts — joint state/action trajectories, rendered demonstration videos, and
language prompts — are © 2026 IDEAS Lab, Northwestern University.

The underlying scene and object assets shown in the rendered videos come from
[BEHAVIOR-1K](https://github.com/StanfordVL/BEHAVIOR-1K) and remain subject to its license; this
dataset does not redistribute them as assets.