sensors:
  force:
    axes: [fx, fy, fz]
    units: newton
    channels: 3
    sampling_rate_hz: 1000
  torque:
    axes: [tx, ty, tz]
    units: newton_meter
    channels: 3
    sampling_rate_hz: 1000
  pressure:
    layout: tactile_grid
    channels: 16
    sampling_rate_hz: 1000
  vibration:
    axes: [vx, vy, vz, ax, ay, az]
    units: normalized
    channels: 6
    sampling_rate_hz: 1000

input_spec:
  max_sampling_rate_hz: 1000
  max_sequence_length: 2048
  supported_modalities: [force, torque, pressure, vibration]