Create README.md

README.md

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+# Niryo Ned2 Dataset – Blue Cube Pick & Place
+
+> **Description:**  
+> This dataset contains multiple 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 its starting position.  
+> 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."**
+
+---
+
+## Dataset Structure
+
+Each episode contains:
+
+- **Observation**
+  - `observation.state`: current joint position
+  - `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 position 
+- **Recording Rate**
+  - One step recorded every **0.333 seconds** (≈ 3 steps per second).  
+  - Each step contains joint state, next action, and images.  
+
+---
+
+## Highlights
+- **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**  
+- **Trajectories:** Multiple episodes with randomized initial states  
+
+---