OmakaseAI/d1_r1pro_close_20260617

D1-arm joint-space dataset retargeted from the Galaxea R1 Pro EE dataset OmakaseAI/r1_pro_close_20260617_right.

Each R1 Pro end-effector pose was converted to D1 arm joint angles via the d1-sdk numerical IK (ik_batch), with the gripper normalized to [0, 1]. Video frames are byte-identical to the source (the retarget only rewrites observation.state / action); produced with the no-re-encode fast path of yubi-d1-retarget.

• mode: single-arm (right), observation.state / action = 8-dim
• IK reachable (ok) frames: 24792/30809 (80%)
• robot_type: d1_arm

NOTE: retargeting used an anchor-only source→D1 calibration (frame 0 anchored to the arm's HOME EE position; orientation uncalibrated). Frames where the source EE pose is not D1-reachable are flagged unreachable/infeasible and hold the last good IK solution. A measured R1Pro→D1 mount calibration is needed to raise the ok rate.