fridge_m_v2: initial SETUP.md

fridge_m_v2/SETUP.md

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+# 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).