Datasets:

Ravenh97
/

sim_data

Generated 2026-05-14 by an automated agent on viscam6 (4× RTX A5000), with helper nodes viscam7 (4× A5000) and viscam3 (4× RTX 3090). Sim-only run; no concurrent gen on this dataset. Push target: Ravenh97/sim_data:fridge_m_v2/.

Motivation

Regenerate fridge_m sim data after the user updated:

The scene XML (assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml) — modified 2026-05-14 ~20:56 PDT.
The robot init params and placement ranges in scripts/datagen/data_gen_fridge_m_2.sh — modified 2026-05-14 ~21:02 PDT.

Pipeline

Same chunked sim pipeline that worked for fridge_m / fridge_7 / 3drawers:

Each chunk runs 4 sim shards on 4 GPUs writing to sim_chunks/chunk_NNN/.
After all 4 shards exit (h5 locks released), check_mismatch.py asserts T == exo_mp4_frames == wrist_mp4_frames for every traj.
NO gen step (sim-only request).

Frozen scripts are at /scr/ravenh/fridge_m_v2/scripts/ on each node so mid-run edits to the source data_gen_fridge_m_2.sh cannot silently change the run. The frozen data_gen_v2.sh only differs from the source by absolutizing the PIPELINE path (snapshot lives under /scr so the SCRIPT_DIR-relative path in the original would not resolve).

v2 parameters (from frozen `data_gen_v2.sh`)

--scene_dataset                       ithor_minimal_fridge_m
--object_instance_index               1
--joint_index                         1
--base_pose_sampling_radius_range     0.8 1.2
--base_pose_sampling_theta_range_rad  -0.5 1.0
--robot_placement_rotation_range_rad  0.5
--robot_placement_exclusion_threshold 0.0
--robot_base_z                        0.86
--robot_base_z_jitter                 -0.1 0.1
--robot_init_qpos_noise_range         0.4 0.4 0.4 0.4 0.4 0.4 0.4
--camera_extrinsics                   scripts/datagen/picked_camera_extrinsics.json
--camera_extrinsics_pos_noise         0.05
--camera_extrinsics_rot_noise_deg     5.0
--output_suffix                       _cam_rand
--record_depth, --record_segmentation, --record_robot_masked_rgb
--filter_for_successful_trajectories

Pipeline: molmospaces/scripts/datagen/run_pipeline_record_state.py (records full mocap/qpos state per step; same wrapper as fridge_m_0.7_pd).

Diff vs fridge_m (v1)

param	v1 (data_gen_fridge_m.sh)	v2 (data_gen_fridge_m_2.sh)
base_pose_sampling_radius_range	0.75 1.1	0.8 1.2
base_pose_sampling_theta_range_rad	-0.5 0.9	-0.5 1.0
robot_placement_rotation_range_rad	0.2	0.5
robot_base_z_jitter	0.0 0.1	-0.1 0.1
robot_init_qpos_noise_range	(unset)	0.4 × 7
pipeline	run_pipeline_no_clip.py	run_pipeline_record_state.py

Scene XML was also modified in place — fingerprints recorded below.

Fingerprints

assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.xml md5 83a5b0c9d5a28208343e70c2b1151af6
assets/scenes/ithor_minimal_fridge_m/FloorPlan1_physics.json md5 1670a043ef6ddfd3c872d9fa221a7bbe
scripts/datagen/data_gen_fridge_m_2.sh md5 86be8ec056ebbcb8668c2f80a4ed8eeb
frozen data_gen_v2.sh (absolute PIPELINE path) md5 cf816d56054141e9ea8e7b51226623cd
molmospaces git HEAD 8003c7009d28746621f969ea44e96475f851d2cd

Node assignments

node	GPUs	chunk range	SEED_BASE	STOP_AT_TRAJS	/scr free at launch
viscam6	4× A5000 (0-3)	001-015	20000	370	5.1 TB
viscam7	4× A5000 (0-3)	101-115	30000	370	3.3 TB
viscam3	4× RTX 3090 (0-3)	201-210	40000	260	248 GB

Expected per-chunk yield (from fridge_m_chunked memory): ~45-50 trajs. Target ~1000 total.

HF layout

Ravenh97/sim_data:fridge_m_v2/
  SETUP.md                       <- this file
  sim_chunks/
    chunk_001/ ...               <- viscam6
    chunk_002/ ...
    ...
    chunk_101/ ...               <- viscam7
    ...
    chunk_201/ ...               <- viscam3
    ...

push_watchdog.py uploads (1 commit per push) every 50 finalized trajs; skips h5 files until the final flush (then includes them).

fridge_m_v2 sim datagen — setup record