| { | |
| "source_rosbags": [ | |
| "Temp/Task_508_HeadTracker_MCAP" | |
| ], | |
| "conversion_config": { | |
| "robot_type": "ffw_sg2_rev1", | |
| "fps": 15, | |
| "task_name": "Pick up the bottle and place it in the basket.", | |
| "selected_cameras": [ | |
| "cam_left_head", | |
| "cam_right_head", | |
| "cam_left_wrist", | |
| "cam_right_wrist" | |
| ], | |
| "camera_rotations": { | |
| "cam_left_head": 0, | |
| "cam_right_head": 0, | |
| "cam_left_wrist": 270, | |
| "cam_right_wrist": 270 | |
| }, | |
| "image_resize": null, | |
| "selected_joint_state_topics": [ | |
| "arm_left", | |
| "arm_right", | |
| "head" | |
| ], | |
| "selected_action_topics": [ | |
| "leader_arm_left", | |
| "leader_arm_right", | |
| "leader_head" | |
| ], | |
| "selected_joints": [ | |
| "arm_l_joint1", | |
| "arm_l_joint2", | |
| "arm_l_joint3", | |
| "arm_l_joint4", | |
| "arm_l_joint5", | |
| "arm_l_joint6", | |
| "arm_l_joint7", | |
| "gripper_l_joint1", | |
| "arm_r_joint1", | |
| "arm_r_joint2", | |
| "arm_r_joint3", | |
| "arm_r_joint4", | |
| "arm_r_joint5", | |
| "arm_r_joint6", | |
| "arm_r_joint7", | |
| "gripper_r_joint1", | |
| "head_joint1", | |
| "head_joint2" | |
| ], | |
| "skip_episodes": { | |
| "Temp/Task_508_HeadTracker_MCAP": null | |
| } | |
| } | |
| } |