# LBM/buffer will take the configuration file from "configs/LBM" and read the "bufer" entry
python externals/vidar/scripts/datasets/webdataset/create.py $2     \
    --cfg_path utils/webdataset/configs                             \
    --buffer 120_f16                                                \
    --zone west                                                     \
    --num_proc $1

# The buffer key works like this:
# 120_p16 means that it will start from 0 with a context of 12, and iterate with a stride of 16 padding the end. 
# Padded data assumes the system is static (repeated images/depth/etc and actions for standing still).
# I implemented that so the model can learn when to stop when completing a task. 
# Otherwise it'd never use data past 121 frames before the end of the episode)
# So, for a sequence of 100 frames, it will take:
# 0-120  ... 16-136 ... 32-152 ... 48-168 ... 64-184  ... 80-200 ... 96-216