| # 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`. |
|
|
