{
    "include_joint_positions": false,
    "include_joint_velocities": false,
    "include_joint_efforts": false,
    "include_tcp_poses": true,
    "include_last_command": true,
    "include_rgb_images": true,
    "include_depth_images": false,
    "depth_scale_factor": 1000.0,
    "action_level": "delta_tcp",
    "left_gripper": "panda",
    "right_gripper": "panda",
    "task_name": "none",
    "max_pause_seconds": 0.2,
    "pause_velocity": 0.03,
    "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": 5,
    "delete_short_episodes": false
}