| # fridge_m_v2 sim datagen — setup record |
|
|
| 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). |
| |
