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  "total_frames": 27911,
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  "control_freq": 100,
  "save_freq": {
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    "object_state": 50,
    "cameras": 25,
    "tactile": 50
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      "description": "Robot action vector"
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    "max_episode_steps": 500,
    "reward_type": "sparse",
    "action_mode": "cartesian_delta",
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    "scene": {
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      "y_range": 0.15,
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      },
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        "color": false
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      "num_objects": {
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        "tactile": 50
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        "joint_positions": true,
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    },
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      "damping_ratio": 1,
      "impedance_mode": "fixed",
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          "robot0_eef_quat",
          "robot0_gripper_qpos",
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          "robot0_joint_vel"
        ],
        "save": true
      },
      "object_state": {
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        "save": true
      },
      "cameras": {
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          "robosuite_name": "robot0_eye_in_hand",
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        },
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        }
      },
      "force_torque": {
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        "keys": [
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        ],
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      },
      "tactile": {
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        "fingers": [
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        "cols": 8,
        "spacing": 0.001,
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    }
  },
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  "video_files_size_in_mb": 200,
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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  "total_chunks": 1,
  "splits": {
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}