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--- |
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license: mit |
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task_categories: |
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- robotics |
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language: |
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- en |
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tags: |
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- robotics |
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- simulation |
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- pick |
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pretty_name: Niryo Ned Dataset – Pick Up Blue Cube |
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--- |
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# Niryo Ned Dataset – Pick Up Blue Cube |
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> **Description:** |
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> This dataset contains **1068 recorded trajectories (episodes)** of a **Niryo Ned/Ned2 robotic arm** performing a **pick** task in **simulation**. |
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> The robot grasps a **blue cube** and lifts it up from the table. |
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> Both the **robot’s initial joint configuration** and the **cube’s initial position** are randomized per episode. |
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--- |
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## Task Instruction |
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Each episode corresponds to the following instruction: |
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**"Pick up the blue cube."** |
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--- |
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## Dataset Structure |
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Each episode contains: |
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- **Observation** |
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- `observation.state`: current joint positions + gripper state (0 = closed, 1 = open) |
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- `observation.images.env1`: 256×256 RGB image from the **first camera view** |
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- `observation.images.env2`: 256×256 RGB image from the **second camera view** |
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- **Action** |
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- `action`: target joint positions + gripper state |
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- **Recording Rate** |
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- One step recorded every **0.333 seconds** (≈ 3 steps per second). |
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- Each step contains joint state, next action, and images. |
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--- |
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## Highlights |
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- **Trajectories:** 1068 simulation episodes |
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- **Task:** Pick up the blue cube (grasp + lift) |
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- **Instruction:** Uniform language instruction for all episodes |
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- **Robot system:** Niryo Ned/Ned2 (6-DOF arm) |
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- **Data source:** Recorded in **simulation** |
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- **Interactive Exploration:** Episodes can be explored in detail with the |
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[LeRobot Dataset Visualizer](https://huggingface.co/spaces/lerobot/visualize_dataset?path=%2FT-Y-N%2Fniryo_ned2_pick_up%2Fepisode_0) |
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--- |
