NED2 (Niryo Ned2)

The Niryo Ned2 is a 6-DoF tabletop arm with a 2-mors prismatic gripper (binary open/close API on real hardware via niryo_robot_tools_commander; direct trajectory publish in sim). In our setup it is mounted on the same cafe-table the RX200 uses, with a head-mount Kinect v2 and an opt-in wrist camera (Niryo’s built-in tool camera).

Tasks

Task	Env ids	Page
Reach	NED2ReacherSim-v0 / ...GoalSim-v0 / ...Real-v0 / ...GoalReal-v0	NED2 — Reach
Push	NED2PushSim-v0 / ...GoalSim-v0 / ...Real-v0 / ...GoalReal-v0	NED2 — Push
PnP	NED2PnPSim-v0 / ...GoalSim-v0 / ...Real-v0 / ...GoalReal-v0	NED2 — Pick-and-Place

Robot-specific facts

Topic	Value
Arm joints (6)	joint_1 … joint_6 (Niryo’s standard naming)
Gripper joints (2)	joint_base_to_mors_1, joint_base_to_mors_2 (prismatic, ± 0.01 m stroke = 20 mm total)
Gripper command API	Binary "open" / "close" on real (via niryo_robot_tools_commander); direct trajectory publish to /gazebo_tool_commander/follow_joint_trajectory in sim
PnP joint-mode action dim	6 (arm) + 1 (gripper scalar) = 7
Arm controller topic	/niryo_robot_follow_joint_trajectory_controller/command
URDF link prefix	Bare names on both sim + real (base_link, shoulder_link, …, tool_link)
End-effector link (FK)	tool_link (MoveIt SRDF group arm ends here)
Reference frame	base_link
Wrist camera (opt-in)	use_wrist_camera=True exposes self.cv_image_wrist; sim topic /gazebo_camera/image_raw, real topic /niryo_robot_vision/compressed_video_stream
Joint-1 safety bound	YAML uses ±2.949 (vs URDF ±3.000) for a 0.05 rad margin

Sim setup

• Description-extras package: niryo_ned2_description_extras (URDF wrap, controller config, Kinect mount). ros_control uses EffortJointInterface so PID gains under /ned2/gazebo_ros_control/pid_gains/joint_* are loaded to the rosparam server before the model spawns.

• Two URDF variants: ned2_kinect.urdf.xacro (reach / push) and ned2_kinect_gripper.urdf.xacro (pnp). Selected via gripper:=true|false arg on the gazebo launch.

Real setup

• Bring up niryo_robot_bringup on the Ned2’s network IP.

• The env subscribes to /ned2/joint_states and publishes to /ned2/niryo_robot_follow_joint_trajectory_controller/command.

• Push / PnP subscribe to /cube_pose for cube tracking.