README.md

---
license: mit
task_categories:
- robotics
language:
- en
tags:
- robotics
- simulation
- pick-and-place
- niryo-ned
pretty_name: Niryo Ned Dataset – Blue Cube Pick & Place
---
# Niryo Ned Dataset – Blue Cube Pick & Place

> **Description:**  
> This dataset contains **4000 recorded trajectories(episodes)** of a **Niryo Ned/Ned2 robotic arm** performing a **pick-and-place** task in **simulation**.  
> The robot picks up a **blue cube** and places it to the **right** of itself.  
> Both the **robot’s initial joint configuration** and the **cube’s initial position** are randomized per episode.  

## Task Instruction
Each episode corresponds to the following instruction:  
**"Place the blue cube to the right of the robot."**

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## Dataset Structure

Each episode contains:

- **Observation**
  - `observation.state`: current joint positions + gripper state (0 = closed, 1 = open)
  - `observation.images.env1`: 256×256 RGB image from the **first camera view**  
  - `observation.images.env2`: 256×256 RGB image from the **second camera view**  
- **Action**
  - `action`: target joint positions + gripper state
- **Recording Rate**
  - One step recorded every **0.333 seconds** (≈ 3 steps per second).  
  - Each step contains joint state, next action, and images.  

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## Highlights
- **Trajectories:** 4000 simulation episodes  
- **Task:** Pick & Place of a blue cube (grasp → place to the right)  
- **Instruction:** Uniform language instruction for all episodes  
- **Robot system:** Niryo Ned/Ned2 (6-DOF arm)  
- **Data source:** Recorded in **simulation**  
- **Interactive Exploration:** Episodes can be explored in detail with the  
  [LeRobot Dataset Visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset?path=%2FT-Y-N%2Fniryo_ned2_dataset%2Fepisode_0)

---