Clean18 擦盘子: 7 -> 31 回合 (26413 帧, 09-18~09-20); ep11/12 标 grade 0; README 记录右手触觉缺失与 ZED 帧率

Data/Clean18_sep_18/README.md

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-# Clean18 擦盘子 真机遥操数据(2026-09-18)
+# Clean18 擦盘子 真机遥操数据(2026-09-18 ~ 09-20)
 
 - 机器人:Dexmate Vega-1P + 双 Sharpa 手;Quest 遥操,LeRobot v2.1,30 Hz
-- 回合:7,帧:6480;相机 ['head', 'kinect_2', 'left_wrist', 'right_wrist'](320×240,AV1)
+- 回合:31,帧:26413(14.7 min);相机 ['head', 'kinect_2', 'left_wrist', 'right_wrist'](320×240,AV1)
 - 起手式:`Clean18R20F10_Init`(由仿真 Clean18 起点重设计:右掌右移 20 cm、两掌前移 10 cm、左 j2 ≥ −0.158 rad;
   腰 40.52/73.66/0.39°,头俯 10°);左手托盘、右手擦碗布,手指锁在起手式握姿并收紧 1 cm(不跟随操作员手指)
 - 流程:ENTER 回起手式 → 手指自动到握姿 → 放入盘子/擦碗布 → ENTER 收紧 → ENTER 解锁双臂并开录 → ENTER 存 → 5 s 自动回起手式
 - `observation.state` / `action`:58 = 左臂 7 + 右臂 7 + 左手 22 + 右手 22(rad);手段 action = 锁死目标,state = 实测
-- `sidecar/`:Sharpa 原生速率手关节 + 触觉 f6;`meta/grades` 为人工评分(1 成功 / 0 失败)
+- `sidecar/`:Sharpa 原生速率手关节 + 触觉 f6;`meta/grades.jsonl` 为人工评分(1 成功 / 0 失败)
 - 起手式与握姿数值:`configs/Clean18R20F10_Init.json`(magicdexmate_Yanghong 仓库)
+
+## 采集批次
+
+| 批次 | 回合 | 帧 | ZED 三路有效帧率 |
+|---|---|---|---|
+| 2026-09-18 | ep0–6 (7) | 6480 | 19.7 Hz |
+| 2026-09-19 | ep7–21 (15) | 13975 | 15.0 Hz |
+| 2026-09-20 | ep22–30 (9) | 5958 | 15.0 Hz |
+
+## 用前必读
+
+1. **ep11 / ep12 是废条,已标 `grade: 0`**。170 帧 / 237 帧(中位数 ~900),右臂行程只有中位数的
+   11% / 28% —— 提前按 ENTER。训练前按 `meta/grades.jsonl` 过滤,可用 **29 条**。
+2. **右手触觉全程为 0**(31 条都是)。主机 UDP 50001 被占,`Touch start failed: host port occupied`,
+   右手 `tactile_fresh` 恒 False、`right_hand_tactile_f6` 全零。**左手触觉正常**(峰值 8–37 N)。
+   拿海绵擦的是右手 —— 要用触觉信号的话这批数据只有左手(托盘那只)可用。
+3. **ZED 三路(head / left_wrist / right_wrist)的有效帧率低于 30 Hz**,数据集里按 30 Hz 重复填充。
+   ep0–6 是 19.7 Hz、ep7–30 是 15.0 Hz。按部署口径(To=2、两帧相隔 50 ms)量,两帧完全相同的比例
+   分别是 17.1% 和 25.6%。kinect_2 在 21–30 Hz 之间抖动(平均约 8% 重复帧)。
+   **动作监督不受影响** —— state/action 来自机器人本体,是真 30 Hz。
+
+## 质量核对(全部 31 条)
+
+- parquet 行数 == `episodes.jsonl` 的 length == 每路 mp4 实际帧数;31×4 个视频无缺失
+- 触觉 sidecar 左右手齐全,writer 报 `dropped: 0`
+- 每条首帧与 `Clean18R20F10_Init` 的最大偏差 ≤ 0.0076 rad(0.44°)—— 差分原点一致
+- 臂动作无任何 ≥300 ms 的冻结段(Quest 的 Wi-Fi 抖动均落在回合之间)

Data/Clean18_sep_18/README.md.bak-20260920

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+# Clean18 擦盘子 真机遥操数据(2026-09-18)
+
+- 机器人:Dexmate Vega-1P + 双 Sharpa 手;Quest 遥操,LeRobot v2.1,30 Hz
+- 回合:7,帧:6480;相机 ['head', 'kinect_2', 'left_wrist', 'right_wrist'](320×240,AV1)
+- 起手式:`Clean18R20F10_Init`(由仿真 Clean18 起点重设计:右掌右移 20 cm、两掌前移 10 cm、左 j2 ≥ −0.158 rad;
+  腰 40.52/73.66/0.39°,头俯 10°);左手托盘、右手擦碗布,手指锁在起手式握姿并收紧 1 cm(不跟随操作员手指)
+- 流程:ENTER 回起手式 → 手指自动到握姿 → 放入盘子/擦碗布 → ENTER 收紧 → ENTER 解锁双臂并开录 → ENTER 存 → 5 s 自动回起手式
+- `observation.state` / `action`:58 = 左臂 7 + 右臂 7 + 左手 22 + 右手 22(rad);手段 action = 锁死目标,state = 实测
+- `sidecar/`:Sharpa 原生速率手关节 + 触觉 f6;`meta/grades` 为人工评分(1 成功 / 0 失败)
+- 起手式与握姿数值:`configs/Clean18R20F10_Init.json`(magicdexmate_Yanghong 仓库)

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