so-101-6-yam

yam version of RedMindRobotics/so-101-6@v0.1.0, converted from so101_new_calib by forward kinematics on the source robot's URDF and inverse kinematics on this robot's URDF, row by row. The videos are the source dataset's, unchanged; rows and timestamps are kept, so they stay in sync. The gripper's open and closed carry over, in each robot's own values.

• robot_type: bi_yam
• joints: left_arm_joint1.pos, left_arm_joint2.pos, left_arm_joint3.pos, left_arm_joint4.pos, left_arm_joint5.pos, left_arm_joint6.pos, left_arm_joint7.pos, right_arm_joint1.pos, right_arm_joint2.pos, right_arm_joint3.pos, right_arm_joint4.pos, right_arm_joint5.pos, right_arm_joint6.pos, right_arm_joint7.pos

episode	rows	position error median (mm)	max (mm)	clamped into reach (%)	over joint speed (%)
0	1033	0.99	2.29	0.0	58.2
1	541	1.01	3.05	0.0	70.6
2	480	1.03	2.31	0.0	75.2
3	598	1.11	2.0	0.0	83.4
4	875	1.05	2.94	0.0	59.7
5	720	1.03	2.86	0.0	54.8
6	915	0.98	3.74	0.0	57.3
7	1046	1.15	3.99	0.0	70.0
8	791	1.19	3.32	0.0	71.9
9	557	0.98	1.81	0.0	71.4
10	512	1.02	17.64	0.0	78.3
11	660	1.03	2.22	0.0	73.0
12	626	1.09	1.96	0.0	82.6
13	291	1.1	11.12	0.0	75.9
14	507	0.97	2.84	0.0	57.7