dresser/README.md

Dresser sim data (open top drawer)

Task: open the top drawer of ithor_minimal_dresser (asset Drawer_b7714dd0) with the DROID arm + planner policy. One chunk = one slurm job = one 1-GPU shard.

Layout

dresser/sim/chunk_NNN/
  trajectories_batch_1_of_1_cam_rand.h5
  episode_NNNNNNNN_exo_camera_1_robot_rgb_batch_1_of_1_cam_rand.mp4
  episode_NNNNNNNN_wrist_camera_robot_rgb_batch_1_of_1_cam_rand.mp4
  episode_NNNNNNNN_*_depth.npz
  episode_NNNNNNNN_*_segmentation.npz
  chunk_log.txt

Each chunk has a chunk_log.txt recording its setup (seed, node, args).

Sim arguments

From molmospaces/scripts/datagen/data_gen_dresser.sh:

• scene_dataset: ithor_minimal_dresser
• target: drawer, object_instance_index=0, joint_index=0 (top drawer)
• camera_extrinsics: picked_camera_extrinsics.json + pos noise 0.05, rot noise 5°
• base_pose_sampling_radius_range: 0.8–1.1 m
• base_pose_sampling_theta_range_rad: 1.6–2.8 (≈92°–160°, front-left wedge)
• robot_placement_rotation_range_rad: 0.5
• robot_base_z: 0.86 (with z_jitter -0.2 -0.1 → effective 0.66–0.76 m)
• robot_init_qpos_noise_range: 0.4 on all 7 joints

Pipeline

• Each chunk runs run_pipeline_record_state.py with samples_per_house=12, batch_num=1, total_batches=1, filter_for_successful_trajectories.
• After sim exits, check_chunk.py verifies T == exo_mp4_frames == wrist_mp4_frames for every traj. Chunk is pushed only if check passes.
• Push uses huggingface_hub.HfApi.upload_folder (one commit per chunk).

Naming

• chunk_NNN where NNN = SLURM_ARRAY_TASK_ID (1-padded to 3 digits).
• seed = 20000 + chunk_id.