unitreerobotics/Z1_DualArm_PourCoffee_Dataset

这是一个关于机器人操作咖啡机的数据集，包含了机器人操作咖啡机从插入咖啡胶囊到冲泡咖啡，并将咖啡杯放置在托盘上的整个过程。数据集使用Z1 7自由度双臂机器人，配备了平行夹爪作为末端执行器。操作过程中，双臂机器人通过高分辨率摄像头进行视觉观测。数据集总共包含331个剧集，443144帧，993个视频文件，数据以Parquet格式存储，并提供了视频文件。

This dataset captures the process of a robotic arm operating a coffee machine, from inserting a coffee capsule to brewing coffee and placing the cup on a tray. It utilizes a Z1 7-DOF dual-arm robotic arm with parallel grippers as the end effector. The dataset includes visual observations from high-resolution cameras during the operation. It consists of 331 episodes, 443144 frames, and 993 video files, with data stored in Parquet format and video files provided.