| { | |
| "n_total_bg": 89, | |
| "n_train": 72, | |
| "n_val": 7, | |
| "n_test": 10, | |
| "val_fraction": 0.1, | |
| "test_fraction": 0.1, | |
| "scene_type": "ReplicaCAD", | |
| "robot": "panda", | |
| "bases_per_scene": 8, | |
| "cameras_per_scene": 24, | |
| "frames_per_scene": 6, | |
| "total_output_scenes": 8405, | |
| "skipped": 1, | |
| "worker_id": 0, | |
| "num_workers": 1, | |
| "deterministic_rotation": true, | |
| "exhaust_pool": true, | |
| "pool_size": 90, | |
| "layout": "bg_{BG:06d}/scene_b{BASE:02d}_{CAM:03d}", | |
| "design": "1 (fixed camera + fixed base + varying arm qpos)" | |
| } |