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Clean18 擦盘子真机遥操 7 集(2026-09-18)

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1
+ # Clean18 擦盘子 真机遥操数据(2026-09-18)
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+
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+ - 机器人:Dexmate Vega-1P + 双 Sharpa 手;Quest 遥操,LeRobot v2.1,30 Hz
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+ - 回合:7,帧:6480;相机 ['head', 'kinect_2', 'left_wrist', 'right_wrist'](320×240,AV1)
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+ - 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;
6
+ 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)
7
+ - 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
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+ - `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
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+ - `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)
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+ - 起手式与握姿数值:`configs/Clean18R20F10_Init.json`(magicdexmate_Yanghong 仓库)
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