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episode_id string | recording_folderpath string | step_index int32 | is_first bool | is_last bool | is_terminal bool | reward float32 | discount float32 | language_instruction string | language_instruction_2 string | language_instruction_3 string | exterior_image_1_left image | exterior_image_2_left image | wrist_image_left image | action list | obs_cartesian_position list | obs_joint_position list | obs_gripper_position list | act_cartesian_position list | act_cartesian_velocity list | act_joint_position list | act_joint_velocity list | act_gripper_position list | act_gripper_velocity list |
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