{
  "source_rosbags": [
    "merge_test_1"
  ],
  "conversion_config": {
    "robot_type": "ffw_sg2_rev1",
    "fps": 15,
    "task_name": "merge_test_1",
    "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": [
      "/robot/arm_left_follower/joint_states",
      "/robot/arm_right_follower/joint_states",
      "/robot/head_follower/joint_states",
      "/robot/lift_follower/joint_states",
      "/odom"
    ],
    "selected_action_topics": [
      "/robot/arm_left_leader/joint_states",
      "/robot/arm_right_leader/joint_states",
      "/robot/head_leader/joint_states",
      "/robot/lift_leader/joint_states",
      "/cmd_vel"
    ],
    "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",
      "lift_joint",
      "linear_x",
      "linear_y",
      "angular_z"
    ]
  }
}