# Data Structure
```
{task}
|
|-{episode}
| |- ego.mp4: egocentric video, 1280x360, binocular
| |- exo.mp4: exocentric video, 640x360, monocular
| |- session_meta.json: episode metadata
| |- state_action.hdf5
| |- action
| | |- body_quat_w: root rotation quaternion, in wxyz order, normalized with the yaw of first frame
| | |- joint_pos: upper body joint pos by ik from hand pose
| | |- left_grip: left hand grip of pico controller
| | |- left_hand_joints: left hand joints, calculated from left_trigger
| | |- left_trigger: left hand trigger of pico controller
| | |- right_grip: right hand grip of pico controller
| | |- right_hand_joints: right hand joints, calculated from right_trigger
| …
