Datasets:

T-Y-N
/

niryo_ned2_dataset

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."

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: 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