| { | |
| "source_rosbags": [ | |
| "raw/Task_0014_ObjectStorage_SanitaryPad_BK_MCAP_deidentified", | |
| "raw/Task_0015_place_basket_on_shelf_mh_MCAP_deidentified" | |
| ], | |
| "merged_from": [ | |
| "task_0014_objectstorage_sanitarypad_bk_lerobot", | |
| "task_0015_place_basket_on_shelf_mh_lerobot" | |
| ], | |
| "conversion_config": { | |
| "output_dataset_name": "task_0014_0015_merged_lerobot", | |
| "robot_type": "ffw_sg2_rev1", | |
| "fps": 15, | |
| "task_names": [ | |
| "Pick up the sanitary pad.", | |
| "place_item_in_basket_on_shelf" | |
| ], | |
| "primitive_instructions": [ | |
| { | |
| "repo_id": "raw/Task_0014_ObjectStorage_SanitaryPad_BK_MCAP_deidentified", | |
| "position": 1, | |
| "instruction": "Pick up the women's products." | |
| }, | |
| { | |
| "position": 1, | |
| "repo_id": "raw/Task_0015_place_basket_on_shelf_mh_MCAP_deidentified", | |
| "instruction": "Place the women's product in the box." | |
| } | |
| ], | |
| "selected_cameras": [ | |
| "cam_left_head", | |
| "cam_right_head", | |
| "cam_left_wrist", | |
| "cam_right_wrist" | |
| ], | |
| "selected_joint_state_topics": [ | |
| "arm_left", | |
| "arm_right", | |
| "head", | |
| "lift", | |
| "all", | |
| "odometry" | |
| ], | |
| "selected_action_topics": [ | |
| "leader_arm_left", | |
| "leader_arm_right", | |
| "leader_head", | |
| "leader_lift", | |
| "leader_mobile" | |
| ], | |
| "selected_end_effector_topics": [], | |
| "camera_rotations": { | |
| "cam_right_wrist": 270, | |
| "cam_left_wrist": 270 | |
| }, | |
| "image_resize": null | |
| } | |
| } | |