dresser README

dresser/README.md

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+# 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`.