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rc-table30-v1__rc-aloha/000021/temporal.json

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0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02149100787937641, 0.0, 0.0, -0.08626057952642441, -0.0439239926636219, 0.05515792965888977, 0.00044999999227002263, -0.00044999999227002263, 0.05770475044846535, 0.0012908560456708074, 0.0, 0.17700426280498505, 0.046645257622003555, -0.07933530956506729, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02149100787937641, 0.0, 0.0, -0.08626057952642441, -0.0439239926636219, 0.05515792965888977, 0.00044999999227002263, -0.00044999999227002263, 0.05770475044846535, 0.0012908560456708074, 0.0, 0.17700426280498505, 0.046645257622003555, -0.07933530956506729, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}

rc-table30-v1__rc-aloha/000022/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "tear off a piece of clear tape and stick it onto the metal box",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 8301,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000022/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
+            </body>
+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
+          <body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
+            <body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
+              <body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
+                <body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
+                  <body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
+                    <body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
+                      <body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
+                        <body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
+                        </body>
+                      </body>
+                      <body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
+                      </body>
+                      <body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
+                      </body>
+                      <camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.012978000543 0.0988840036622 0.0297900069521" quat="-0.00664455209661 -0.00555183051696 0.977605472926 0.210267844453" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fr_base_link_geom" />
+          <body name="fr_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
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+                      <camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129780091785 0.0988840155733 0.0297900077443" quat="-0.00664455166798 -0.00555183057528 0.977605471193 0.210267852523" />
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+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
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+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
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+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
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+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
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+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
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+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
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+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
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+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000023/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "tear off a piece of clear tape and stick it onto the metal box",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 9321,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000023/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
+            </body>
+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
+          <body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
+            <body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
+              <body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
+                <body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
+                  <body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
+                    <body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
+                      <body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
+                        <body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
+                        </body>
+                      </body>
+                      <body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
+                      </body>
+                      <body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
+                      </body>
+                      <camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.012977999979 0.0988840039124 0.0297900071015" quat="-0.00664455075471 -0.00555183060253 0.977605471209 0.210267852474" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fr_base_link_geom" />
+          <body name="fr_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fr_link1_geom" />
+            <body name="fr_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fr_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fr_link2_geom" />
+              <body name="fr_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fr_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fr_link3_geom" />
+                <body name="fr_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fr_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fr_link4_geom" />
+                  <body name="fr_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fr_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fr_link5_geom" />
+                    <body name="fr_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fr_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
+                      <body name="fr_gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="fr_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fr_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
+                        <body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fr_camera_link_geom" />
+                        </body>
+                      </body>
+                      <body name="fr_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fr_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fr_link7_geom" />
+                      </body>
+                      <body name="fr_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fr_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fr_link8_geom" />
+                      </body>
+                      <camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129779917128 0.0988839819461 0.0297899885206" quat="-0.00664455212567 -0.00555183070455 0.977605474235 0.210267838361" />
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+        </body>
+        <body name="bl_base_link" pos="-0.379 0.3075 0.901" quat="1 0 0 0">
+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
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+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="bl_link5_geom" />
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+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="bl_link6_geom" />
+                      <body name="bl_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="bl_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="bl_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
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+                        <joint name="bl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="bl_link7_geom" />
+                      </body>
+                      <body name="bl_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="bl_link8_geom" />
+                      </body>
+                    </body>
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+            </body>
+          </body>
+        </body>
+        <body name="br_base_link" pos="-0.379 -0.3075 0.901" quat="1 0 0 0">
+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
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+          <body name="br_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
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+              <joint name="br_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
+              <body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
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+                <joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
+                <body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
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+                  <joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
+                  <body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
+                    <body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
+                      <body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
+                      </body>
+                      <body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="640 480" sensorsize="640 480" focal="586.213745117 586.213745117" principal="320 240" pos="-0.0091054641771 -0.282749384764 1.00734559201" quat="0.696987745306 0.172393407978 -0.157111387587 -0.678088937876" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000024/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "place all the trash into the green trash bin, and put the dishes into the transparent basket",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 230,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000024/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
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+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
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+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
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+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
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+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
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+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
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+                <joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
+                <body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
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+                  <joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
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+                    <joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
+                    <body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
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+                      <joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
+                      <body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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+                      <body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
+                        <body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
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+                      <body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
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+                        <joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
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+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
+                      </body>
+                      <camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129779996466 0.0988839965882 0.0297900021696" quat="-0.0066445515368 -0.00555183059746 0.977605473514 0.210267841733" />
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+        <body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
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+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fr_base_link_geom" />
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+            <joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fr_link1_geom" />
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+              <joint name="fr_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fr_link2_geom" />
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+                <joint name="fr_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fr_link3_geom" />
+                <body name="fr_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
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+                  <joint name="fr_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fr_link4_geom" />
+                  <body name="fr_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
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+                    <joint name="fr_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fr_link5_geom" />
+                    <body name="fr_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
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+                      <joint name="fr_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
+                      <body name="fr_gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="fr_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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+                      <body name="fr_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
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+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
+                        <body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fr_camera_link_geom" />
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+                        <joint name="fr_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fr_link7_geom" />
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+                      <body name="fr_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fr_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fr_link8_geom" />
+                      </body>
+                      <camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129780025431 0.0988840108728 0.0297900017454" quat="-0.00664455154518 -0.00555183024846 0.977605474922 0.210267835198" />
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+            <joint name="bl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="bl_link1_geom" />
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+              <joint name="bl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="bl_link2_geom" />
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+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="bl_link3_geom" />
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+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="bl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="bl_link5_geom" />
+                    <body name="bl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="bl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="bl_link6_geom" />
+                      <body name="bl_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="bl_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="bl_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="bl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="bl_link7_geom" />
+                      </body>
+                      <body name="bl_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="bl_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="br_base_link" pos="-0.379 -0.3075 0.901" quat="1 0 0 0">
+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="br_base_link_geom" />
+          <body name="br_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="br_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="br_link1_geom" />
+            <body name="br_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="br_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
+              <body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
+                <joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
+                <body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
+                  <body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
+                    <body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
+                      <body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
+                      </body>
+                      <body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="640 480" sensorsize="640 480" focal="586.213745117 586.213745117" principal="320 240" pos="-0.0091054641771 -0.282749384764 1.00734559201" quat="0.696987745306 0.172393407978 -0.157111387587 -0.678088937876" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000025/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "scan the QR code on the medicine box using the scanner",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 6849,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000025/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
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+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
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+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
+                        <body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
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+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
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+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fr_link5_geom" />
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+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
+                      <body name="fr_gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="fr_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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+                      <body name="fr_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
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+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
+                        <body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fr_camera_link_geom" />
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+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fr_link7_geom" />
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+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fr_link8_geom" />
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+                      <camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129780347939 0.0988839912925 0.0297899904318" quat="-0.0066445472452 -0.00555182848599 0.977605474143 0.210267839" />
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+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="bl_link2_geom" />
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+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
+                <body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
+                  <body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
+                    <body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
+                      <body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
+                      </body>
+                      <body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="640 480" sensorsize="640 480" focal="586.213745117 586.213745117" principal="320 240" pos="-0.064299859716 -0.260167569509 0.996507740359" quat="0.687072360494 0.179917804463 -0.191150731694 -0.677512031521" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000026/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "make a vegetable sandwich",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 1658,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000026/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
+            </body>
+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
+          <body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
+            <body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
+              <body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
+                <body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
+                  <body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
+                    <body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
+                      <body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
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+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000027/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "make a vegetable sandwich",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 1308,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000027/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
+            </body>
+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
+          <body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
+            <body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
+              <body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
+                <body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
+                  <body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
+                    <body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
+                      <body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
+                        <body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
+                        </body>
+                      </body>
+                      <body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
+                      </body>
+                      <body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
+                      </body>
+                      <camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129779999294 0.0988840145541 0.029790009472" quat="-0.00664455173761 -0.00555183017672 0.977605472958 0.210267844322" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fr_base_link_geom" />
+          <body name="fr_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fr_link1_geom" />
+            <body name="fr_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fr_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fr_link2_geom" />
+              <body name="fr_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fr_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fr_link3_geom" />
+                <body name="fr_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
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+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
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+                        <site name="fr_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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+                      <body name="fr_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
+                        <body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fr_camera_link_geom" />
+                        </body>
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+                        <joint name="fr_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fr_link7_geom" />
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+                      <body name="fr_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
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+                        <joint name="fr_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fr_link8_geom" />
+                      </body>
+                      <camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129780111984 0.0988839891001 0.0297899954594" quat="-0.00664455116765 -0.00555183091493 0.97760547457 0.210267836828" />
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+        </body>
+        <body name="bl_base_link" pos="-0.379 0.3075 0.901" quat="1 0 0 0">
+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
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+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="bl_link2_geom" />
+              <body name="bl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
+                <joint name="bl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="bl_link3_geom" />
+                <body name="bl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
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+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="bl_link4_geom" />
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+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
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+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="bl_link5_geom" />
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+                      <body name="bl_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="bl_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="bl_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="bl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="bl_link7_geom" />
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+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
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+        </body>
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+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
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+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
+              <body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
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+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
+                <body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
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+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
+                  <body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
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+                    <body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
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+                      <joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
+                      <body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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+                      <body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
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+                        <joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
+                      </body>
+                      <body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="640 480" sensorsize="640 480" focal="586.213745117 586.213745117" principal="320 240" pos="-0.064299859716 -0.260167569509 0.996507740359" quat="0.687072360494 0.179917804463 -0.191150731694 -0.677512031521" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000028/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "stack the two smaller bowls on top of the largest bowl one by one.",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 7965,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000028/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
+            </body>
+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
+          <body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
+            <body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
+              <body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
+                <body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
+                  <body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
+                    <body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
+                      <body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
+                        <body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
+                        </body>
+                      </body>
+                      <body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
+                      </body>
+                      <body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
+                      </body>
+                      <camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129779994809 0.0988840094305 0.0297900070486" quat="-0.00664455171175 -0.00555183068971 0.977605474585 0.210267836745" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fr_base_link_geom" />
+          <body name="fr_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fr_link1_geom" />
+            <body name="fr_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fr_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fr_link2_geom" />
+              <body name="fr_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fr_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fr_link3_geom" />
+                <body name="fr_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fr_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fr_link4_geom" />
+                  <body name="fr_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fr_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fr_link5_geom" />
+                    <body name="fr_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fr_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
+                      <body name="fr_gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="fr_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fr_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
+                        <body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fr_camera_link_geom" />
+                        </body>
+                      </body>
+                      <body name="fr_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fr_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fr_link7_geom" />
+                      </body>
+                      <body name="fr_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fr_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fr_link8_geom" />
+                      </body>
+                      <camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129780377753 0.0988839931145 0.0297899993657" quat="-0.0066445511249 -0.00555183021327 0.977605473305 0.210267842727" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="bl_base_link" pos="-0.379 0.3075 0.901" quat="1 0 0 0">
+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="bl_base_link_geom" />
+          <body name="bl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
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+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="bl_link1_geom" />
+            <body name="bl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="bl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="bl_link2_geom" />
+              <body name="bl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
+                <joint name="bl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="bl_link3_geom" />
+                <body name="bl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="bl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="bl_link4_geom" />
+                  <body name="bl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="bl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="bl_link5_geom" />
+                    <body name="bl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="bl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="bl_link6_geom" />
+                      <body name="bl_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="bl_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="bl_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="bl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="bl_link7_geom" />
+                      </body>
+                      <body name="bl_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="bl_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="br_base_link" pos="-0.379 -0.3075 0.901" quat="1 0 0 0">
+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="br_base_link_geom" />
+          <body name="br_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="br_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="br_link1_geom" />
+            <body name="br_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="br_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
+              <body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
+                <joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
+                <body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
+                  <body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
+                    <body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
+                      <body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
+                      </body>
+                      <body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="640 480" sensorsize="640 480" focal="586.213745117 586.213745117" principal="320 240" pos="-0.0622128657279 -0.245025017705 0.996704932182" quat="0.690774089901 0.189796851752 -0.209406781374 -0.66555023229" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000029/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "scan the QR code on the medicine box using the scanner",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 6657,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000029/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
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+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
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+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
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+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
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+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
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+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
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+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
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+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
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+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
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+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
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+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
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+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
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+                        <site name="fr_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
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+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fr_camera_link_geom" />
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+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fr_link7_geom" />
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+                      <camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129779702493 0.0988840112962 0.0297900106833" quat="-0.00664455137262 -0.00555182870347 0.977605472614 0.210267845973" />
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+                      </body>
+                      <body name="bl_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="bl_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="br_base_link" pos="-0.379 -0.3075 0.901" quat="1 0 0 0">
+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="br_base_link_geom" />
+          <body name="br_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="br_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="br_link1_geom" />
+            <body name="br_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="br_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
+              <body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
+                <joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
+                <body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
+                  <body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
+                    <body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
+                      <body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
+                      </body>
+                      <body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="640 480" sensorsize="640 480" focal="586.213745117 586.213745117" principal="320 240" pos="-0.064299859716 -0.260167569509 0.996507740359" quat="0.687072360494 0.179917804463 -0.191150731694 -0.677512031521" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000030/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "tear off a piece of clear tape and stick it onto the metal box",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 8353,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000030/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
+            </body>
+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
+          <body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
+            <body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
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+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
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+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
+                      <body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
+                      </body>
+                      <body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="640 480" sensorsize="640 480" focal="586.213745117 586.213745117" principal="320 240" pos="-0.0091054641771 -0.282749384764 1.00734559201" quat="0.696987745306 0.172393407978 -0.157111387587 -0.678088937876" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000031/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "grasp the faucet switch and turn it on",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 10116,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000031/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
+            </body>
+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
+          <body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
+            <body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
+              <body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
+                <body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
+                  <body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
+                    <body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
+                      <body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
+                        <body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
+                        </body>
+                      </body>
+                      <body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
+                      </body>
+                      <body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
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+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000032/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "sweep the trash into the dustpan using a broom",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 9691,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000032/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
+            </body>
+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
+          <body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
+            <body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
+              <body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
+                <body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
+                  <body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
+                    <body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
+                      <body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
+                        <body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
+                        </body>
+                      </body>
+                      <body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
+                      </body>
+                      <body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
+                      </body>
+                      <camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129779998304 0.0988839981413 0.02979000192" quat="-0.00664455152849 -0.00555183053752 0.977605472977 0.210267844233" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fr_base_link_geom" />
+          <body name="fr_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fr_link1_geom" />
+            <body name="fr_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fr_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fr_link2_geom" />
+              <body name="fr_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fr_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fr_link3_geom" />
+                <body name="fr_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fr_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fr_link4_geom" />
+                  <body name="fr_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fr_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fr_link5_geom" />
+                    <body name="fr_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fr_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
+                      <body name="fr_gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="fr_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fr_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
+                        <body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fr_camera_link_geom" />
+                        </body>
+                      </body>
+                      <body name="fr_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fr_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fr_link7_geom" />
+                      </body>
+                      <body name="fr_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fr_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fr_link8_geom" />
+                      </body>
+                      <camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129780356809 0.0988839900977 0.0297899911965" quat="-0.00664455160764 -0.00555182735967 0.977605475318 0.210267833428" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="bl_base_link" pos="-0.379 0.3075 0.901" quat="1 0 0 0">
+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="bl_base_link_geom" />
+          <body name="bl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="bl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="bl_link1_geom" />
+            <body name="bl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="bl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="bl_link2_geom" />
+              <body name="bl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
+                <joint name="bl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="bl_link3_geom" />
+                <body name="bl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="bl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="bl_link4_geom" />
+                  <body name="bl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="bl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="bl_link5_geom" />
+                    <body name="bl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="bl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="bl_link6_geom" />
+                      <body name="bl_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="bl_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="bl_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="bl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="bl_link7_geom" />
+                      </body>
+                      <body name="bl_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="bl_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="br_base_link" pos="-0.379 -0.3075 0.901" quat="1 0 0 0">
+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="br_base_link_geom" />
+          <body name="br_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="br_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="br_link1_geom" />
+            <body name="br_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="br_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
+              <body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
+                <joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
+                <body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
+                  <body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
+                    <body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
+                      <body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
+                      </body>
+                      <body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="640 480" sensorsize="640 480" focal="586.213745117 586.213745117" principal="320 240" pos="-0.064299859716 -0.260167569509 0.996507740359" quat="0.687072360494 0.179917804463 -0.191150731694 -0.677512031521" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000033/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "Insert the RJ45 connector of the Ethernet cable into the host.",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 2469,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000033/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
+            </body>
+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
+          <body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
+            <body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
+              <body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
+                <body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
+                  <body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
+                    <body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
+                      <body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
+                        <body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
+                        </body>
+                      </body>
+                      <body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
+                      </body>
+                      <body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
+                      </body>
+                      <camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129779991917 0.0988840087777 0.0297900013872" quat="-0.0066445507608 -0.00555183135761 0.977605474663 0.210267836394" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fr_base_link_geom" />
+          <body name="fr_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fr_link1_geom" />
+            <body name="fr_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fr_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fr_link2_geom" />
+              <body name="fr_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fr_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fr_link3_geom" />
+                <body name="fr_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fr_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fr_link4_geom" />
+                  <body name="fr_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fr_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fr_link5_geom" />
+                    <body name="fr_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fr_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
+                      <body name="fr_gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="fr_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fr_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
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+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
+                        <body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fr_camera_link_geom" />
+                        </body>
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+                        <joint name="fr_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fr_link7_geom" />
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+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fr_link8_geom" />
+                      </body>
+                      <camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129779961713 0.0988839984726 0.029790003537" quat="-0.00664455154991 -0.00555183056338 0.977605471696 0.210267850189" />
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+                <joint name="bl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="bl_link3_geom" />
+                <body name="bl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="bl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="bl_link4_geom" />
+                  <body name="bl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="bl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="bl_link5_geom" />
+                    <body name="bl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="bl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="bl_link6_geom" />
+                      <body name="bl_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="bl_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="bl_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="bl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="bl_link7_geom" />
+                      </body>
+                      <body name="bl_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="bl_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="br_base_link" pos="-0.379 -0.3075 0.901" quat="1 0 0 0">
+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="br_base_link_geom" />
+          <body name="br_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="br_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="br_link1_geom" />
+            <body name="br_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="br_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
+              <body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
+                <joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
+                <body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
+                  <body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
+                    <body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
+                      <body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
+                      </body>
+                      <body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="640 480" sensorsize="640 480" focal="586.213745117 586.213745117" principal="320 240" pos="-0.0622128657279 -0.245025017705 0.996704932182" quat="0.690774089901 0.189796851752 -0.209406781374 -0.66555023229" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000034/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "place the can opener into the right-hand drawer",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 5316,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000034/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
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+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
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+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
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+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
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+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
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+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fr_link7_geom" />
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+                      <camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129780295499 0.0988839856306 0.0297900020138" quat="-0.00664455226134 -0.00555183114751 0.977605473991 0.210267839478" />
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+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="br_link1_geom" />
+            <body name="br_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="br_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
+              <body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
+                <joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
+                <body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
+                  <body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
+                    <body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
+                      <body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
+                      </body>
+                      <body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="640 480" sensorsize="640 480" focal="586.213745117 586.213745117" principal="320 240" pos="-0.0091054641771 -0.282749384764 1.00734559201" quat="0.696987745306 0.172393407978 -0.157111387587 -0.678088937876" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000035/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "Insert the RJ45 connector of the Ethernet cable into the host.",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 2890,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000035/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
+            </body>
+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
+          <body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
+            <body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
+              <body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
+                <body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
+                  <body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
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+        </body>
+      </body>
+      <camera name="global" resolution="640 480" sensorsize="640 480" focal="586.213745117 586.213745117" principal="320 240" pos="-0.0622128657279 -0.245025017705 0.996704932182" quat="0.690774089901 0.189796851752 -0.209406781374 -0.66555023229" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000036/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "stack the two smaller bowls on top of the largest bowl one by one.",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 7349,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000036/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
+            </body>
+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
+          <body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
+            <body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
+              <body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
+                <body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
+                  <body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
+                    <body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
+                      <body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
+                        <body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
+                        </body>
+                      </body>
+                      <body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
+                      </body>
+                      <body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
+                      </body>
+                      <camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129779993321 0.0988839961305 0.0297899949" quat="-0.00664455145747 -0.00555183054442 0.977605474856 0.2102678355" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fr_base_link_geom" />
+          <body name="fr_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fr_link1_geom" />
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+              <joint name="fr_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fr_link2_geom" />
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+                <joint name="fr_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fr_link3_geom" />
+                <body name="fr_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
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+                  <joint name="fr_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fr_link4_geom" />
+                  <body name="fr_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
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+                    <joint name="fr_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fr_link5_geom" />
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+                      <joint name="fr_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
+                      <body name="fr_gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="fr_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fr_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
+                        <body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fr_camera_link_geom" />
+                        </body>
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+                      <body name="fr_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fr_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fr_link7_geom" />
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+                      <body name="fr_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fr_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fr_link8_geom" />
+                      </body>
+                      <camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129779651034 0.0988840011294 0.0297899973623" quat="-0.00664455070645 -0.00555182904418 0.97760547343 0.210267842191" />
+                    </body>
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+        <body name="bl_base_link" pos="-0.379 0.3075 0.901" quat="1 0 0 0">
+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="bl_base_link_geom" />
+          <body name="bl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
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+            <joint name="bl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="bl_link1_geom" />
+            <body name="bl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="bl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="bl_link2_geom" />
+              <body name="bl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
+                <joint name="bl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="bl_link3_geom" />
+                <body name="bl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="bl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="bl_link4_geom" />
+                  <body name="bl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="bl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="bl_link5_geom" />
+                    <body name="bl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
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+                      <joint name="bl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="bl_link6_geom" />
+                      <body name="bl_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="bl_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="bl_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="bl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="bl_link7_geom" />
+                      </body>
+                      <body name="bl_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="bl_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
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+            </body>
+          </body>
+        </body>
+        <body name="br_base_link" pos="-0.379 -0.3075 0.901" quat="1 0 0 0">
+          <inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="br_base_link_geom" />
+          <body name="br_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="br_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="br_link1_geom" />
+            <body name="br_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="br_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
+              <body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
+                <joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
+                <body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
+                  <body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
+                    <body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
+                      <joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
+                      <body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
+                        <site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
+                        <joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
+                      </body>
+                      <body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
+                        <joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="640 480" sensorsize="640 480" focal="586.213745117 586.213745117" principal="320 240" pos="-0.0622128657279 -0.245025017705 0.996704932182" quat="0.690774089901 0.189796851752 -0.209406781374 -0.66555023229" />
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000036/temporal.json

@@ -0,0 +1 @@
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rc-table30-v1__rc-aloha/000037/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "make a vegetable sandwich",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 1316,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}

rc-table30-v1__rc-aloha/000037/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml

@@ -0,0 +1,308 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="aloha_description_no_mesh">
+  <compiler angle="radian" autolimits="true" balanceinertia="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <joint damping="0.1" armature="0.01" />
+    <geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
+      <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
+      <body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
+        <inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
+        <geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
+          <inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="right_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
+        </body>
+        <body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
+          <inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
+          <joint name="left_joint" type="hinge" axis="0 0 1" />
+          <geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
+        </body>
+        <body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
+        </body>
+        <body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
+          <inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
+        </body>
+        <body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
+        </body>
+        <body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
+          <inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
+          <geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
+        </body>
+      </body>
+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
+        <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
+        <body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
+          <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+          <joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
+          <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
+          <body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
+            <inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
+            <joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
+            <geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
+            <body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
+              <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+              <geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
+            </body>
+          </body>
+        </body>
+        <body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
+          <body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
+            <inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
+            <joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
+            <body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
+              <inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
+              <joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
+              <body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
+                <inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
+                <joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
+                <body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
+                  <inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
+                  <joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
+                  <geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
+                  <body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
+                    <inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
+                    <joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
+                    <geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
+                    <body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
+                      <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                      <joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
+                      <body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
+                        <site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
+                      </body>
+                      <body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
+                        <inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
+                        <body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
+                        </body>
+                      </body>
+                      <body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
+                        <inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
+                        <joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
+                      </body>
+                      <body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
+                        <inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
+                        <joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
+                        <geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
+                      </body>
+                      <camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.012978000682 0.0988839901803 0.0297899952411" quat="-0.00664455151951 -0.00555183125052 0.977605473852 0.210267840144" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
+          <inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
+          <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fr_base_link_geom" />
+          <body name="fr_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
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+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
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+                        <site name="fr_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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+                        <geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
+                        <body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
+                          <inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
+                          <geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fr_camera_link_geom" />
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+                      <camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129780228587 0.0988839994011 0.0297900052079" quat="-0.00664455174564 -0.0055518310836 0.977605471693 0.210267850181" />
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+    <position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
+    <position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
+    <position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
+    <position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
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+    <position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
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+    <position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+    <position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
+    <position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
+    <position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
+    <position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
+    <position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
+    <position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
+    <position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
+    <position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
+  </actuator>
+</mujoco>

rc-table30-v1__rc-aloha/000038/meta.json

@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "stack the two smaller bowls on top of the largest bowl one by one.",
+  "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+  "cameras": [
+    "global",
+    "left_wrist",
+    "right_wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fl_link7",
+        "fl_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "fl_base_link",
+        "fl_link1",
+        "fl_link2",
+        "fl_link3",
+        "fl_link4",
+        "fl_link5",
+        "fl_link6",
+        "fl_link7",
+        "fl_link8"
+      ],
+      [
+        "fr_base_link",
+        "fr_link1",
+        "fr_link2",
+        "fr_link3",
+        "fr_link4",
+        "fr_link5",
+        "fr_link6",
+        "fr_link7",
+        "fr_link8"
+      ]
+    ],
+    "skip_bodies": [],
+    "gripper_keypoint_overrides": [
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "gripper_center",
+        "finger_bodies": [
+          "fl_link7",
+          "fl_link8"
+        ],
+        "closing_axis": 1
+      },
+      {
+        "ee_object_type": "site",
+        "ee_object_name": "fr_gripper_center",
+        "finger_bodies": [
+          "fr_link7",
+          "fr_link8"
+        ],
+        "closing_axis": 1
+      }
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "left_wrist": "ref_images/left_wrist.png",
+    "right_wrist": "ref_images/right_wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "left_wrist": "gt/left_wrist.mp4",
+    "right_wrist": "gt/right_wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-aloha",
+    "source_repo_id": "rc-table30-v1/rc-aloha",
+    "episode_index": 8220,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}