{
  "include_joint_positions": true,
  "include_joint_velocities": false,
  "include_joint_efforts": false,
  "include_tcp_poses": true,
  "include_last_command": true,
  "include_rgb_images": true,
  "include_depth_images": true,
  "image_resolution": [
    512,
    512
  ],
  "depth_scale_factor": 1000.0,
  "action_level": "delta_tcp",
  "left_gripper": "panda",
  "right_gripper": "panda",
  "task_name": "step_1_flip",
  "max_pause_seconds": 600,
  "pause_velocity": -1,
  "save_pauses": false,
  "gripper_active_speed": 0.05,
  "boost_factor": 1,
  "grace_period_seconds": 0.2,
  "save_normal": false,
  "recording_fps": 30,
  "target_fps": 10,
  "subsample_offset": 0,
  "min_episode_seconds": 1
}