T-Y-N/niryo_ned2_dataset

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

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