Capsule Coffee Machine Brewing
Demonstrations capture beverage-service manipulation for loading a coffee capsule, positioning a cup, pressing the machine, and placing the brewed coffee.
Available robots
Steps
- 01Move toward the table and adjust the robot pose until one arm can grasp the cup
- Adjust Posture
- Move
- 02Adjust the height (when needed)
- Adjust Height
- Full step list available on request
Sample recordings
ExcellentNo blocking integrity failures
Checking for additional chart data…
Data integrity & timing
- Completeness99.9% of expected messages — no dropped data99.9%pass
- Timestamp Alignmentcameras & joints synced within ±2 ms1.98 mspass
- Signal Validity0 out-of-limit joints, 0 invalid samples0% invalidpass
- Longest stream stopno stream stop exceeded 3 s (longest 0.098 s)0.098 spass
- Stalled channelsno channel stalled longer than 3 s0pass
Image quality
- Image Qualityall sampled frames sharp, well-exposed100%pass
- Frame decodingall camera frames decoded0pass
- Image brightnessmean brightness 138.6 on a 0-255 scale138.56Measured
- Image contrastRMS contrast 52.752.68Measured
- Backlit framesno backlit frames detected on the scene camera0%pass
- Motion blurmotion blur affected 0 s of the 61 s episode0 sMeasured
Motion & control
- Motion Smoothnesssmooth, human-grade trajectories-2.33 SPARCpass
- Tracking Errorrobot followed intent within 0.002 rad (worst joint 0.023)0.002 radpass
Gripper behavior
- Gripper Chatterdecisive grasps, 100% idle hands0 transitions/minpass