Datasets:

T-Y-N
/

niryo_ned2_pick_up

license: mit
task_categories:
  - robotics
language:
  - en
tags:
  - robotics
  - simulation
  - pick
pretty_name: Niryo Ned Dataset – Pick Up Blue Cube

Niryo Ned Dataset – Pick Up Blue Cube

Description:
This dataset contains 1068 recorded trajectories (episodes) of a Niryo Ned/Ned2 robotic arm performing a pick task in simulation.
The robot grasps a blue cube and lifts it up from the table.
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:
"Pick up the blue cube."

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.

Highlights

Trajectories: 1068 simulation episodes
Task: Pick up the blue cube (grasp + lift)
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