diff --git a/rc-table30-v1__rc-aloha/000021/temporal.json b/rc-table30-v1__rc-aloha/000021/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d823e716c680f0af08ebefdd1c95fb034acaf67
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000021/temporal.json
@@ -0,0 +1 @@
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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]]}]}
diff --git a/rc-table30-v1__rc-aloha/000022/meta.json b/rc-table30-v1__rc-aloha/000022/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a32cc11bb0a44bb567eb822f15e0b9cecba0f111
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000022/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000022/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..13e7e50221604f6fbeecf2d7941f3f0258b1ffa5
--- /dev/null
+++ b/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">
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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" />
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+    <position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
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+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
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+    <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000022/temporal.json b/rc-table30-v1__rc-aloha/000022/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..8657bdff52e5228174d0b872345a50178ac0c41d
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000022/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-aloha/000023/meta.json b/rc-table30-v1__rc-aloha/000023/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..36d5a80f494de6030efed4645b8b6eed60455f76
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000023/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000023/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b4f949bbfae9cf2b4af8b66df4b547b8fca23f86
--- /dev/null
+++ b/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" />
+                    </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="-0.0091054641771 -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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000023/temporal.json b/rc-table30-v1__rc-aloha/000023/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..88422966e34e0b1a092ed1df820b5aed9f7e9a08
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000023/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.02857327274978161, 0.0313992016017437, 0.0, -0.03576020151376724, 0.04214470461010933, 0.04636615142226219, 0.0, -0.0, 0.010937388055026531, 0.0, 0.0, 0.03380647301673889, 0.06456024199724197, -0.012036359868943691, 0.0006000000284984708, -0.0006000000284984708, 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, 0.02857327274978161, 0.0313992016017437, 0.0, -0.03576020151376724, 0.04214470461010933, 0.04636615142226219, 0.0, -0.0, 0.010937388055026531, 0.0, 0.0, 0.03380647301673889, 0.06456024199724197, -0.012036359868943691, 0.0006000000284984708, -0.0006000000284984708, 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, 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"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]]}]}
diff --git a/rc-table30-v1__rc-aloha/000024/meta.json b/rc-table30-v1__rc-aloha/000024/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c6cfa570cb17e20c2fd02c125861c38115d2421
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000024/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000024/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2980195a7a7e9a1e7b4066b4156267da4d59ca8e
--- /dev/null
+++ b/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">
+        <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">
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+        <geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
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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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+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
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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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+                      <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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+        <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000024/temporal.json b/rc-table30-v1__rc-aloha/000024/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..aad10a5088f932b16b64ba0123a02a7e5ae81eae
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000024/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.008111460134387016, 0.0, 0.0, -0.0886504054069519, 0.0745382085442543, 0.041865598410367966, 0.0, -0.0, 0.011949139647185802, 0.0025293799117207527, 0.0, -0.030021123588085175, 0.02503214031457901, 0.007117152214050293, 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, 0.008111460134387016, 0.0, 0.0, -0.0886504054069519, 0.0745382085442543, 0.041865598410367966, 0.0, -0.0, 0.011949139647185802, 0.0025293799117207527, 0.0, -0.030021123588085175, 0.02503214031457901, 0.007117152214050293, 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, 0.008111460134387016, 0.0, 0.0, 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diff --git a/rc-table30-v1__rc-aloha/000025/meta.json b/rc-table30-v1__rc-aloha/000025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0596e6df72a85b3b4a76a62df97ab0401e5b391e
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000025/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000025/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..79335f4eceaea386ae894cc534d9edeb96459580
--- /dev/null
+++ b/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">
+              <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="0.0129780014314 0.0988839860821 0.0297899975588" quat="-0.00664455051816 -0.00555182944234 0.97760547319 0.210267843301" />
+                    </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" />
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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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+                      <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="0.0129780347939 0.0988839912925 0.0297899904318" quat="-0.0066445472452 -0.00555182848599 0.977605474143 0.210267839" />
+                    </body>
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+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="bl_base_link" pos="-0.379 0.3075 0.901" quat="1 0 0 0">
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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" />
+              <body name="bl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
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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="-0.064299859716 -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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000025/temporal.json b/rc-table30-v1__rc-aloha/000025/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..1abd182411bd7cf630fce59a0c0b5538de2edd7f
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000025/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, -0.15516437590122223, 0.003663240000605583, 0.0, 0.013937756419181824, -0.0392489992082119, 0.11136249452829361, 4.999999873689376e-05, -4.999999873689376e-05, 0.17777180671691895, 0.003279472002759576, 0.0, 0.0643334686756134, 0.023409847170114517, 0.06848514080047607, 0.000699999975040555, -0.000699999975040555, 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, -0.15516437590122223, 0.003663240000605583, 0.0, 0.013937756419181824, -0.0392489992082119, 0.11136249452829361, 4.999999873689376e-05, -4.999999873689376e-05, 0.17777180671691895, 0.003279472002759576, 0.0, 0.0643334686756134, 0.023409847170114517, 0.06848514080047607, 0.000699999975040555, -0.000699999975040555, 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], 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0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.011164160445332527, 0.004308667965233326, 0.0, 0.09220898151397705, 0.04294712841510773, -0.007710248231887817, 4.999999873689376e-05, -4.999999873689376e-05, 0.04715113341808319, 0.0855628177523613, 0.0, 0.10543153434991837, -0.028747711330652237, -0.10422790050506592, 0.000750000006519258, -0.000750000006519258, 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, -0.011164160445332527, 0.004308667965233326, 0.0, 0.09220898151397705, 0.04294712841510773, -0.007710248231887817, 4.999999873689376e-05, -4.999999873689376e-05, 0.04715113341808319, 0.0855628177523613, 0.0, 0.10543153434991837, -0.028747711330652237, -0.10422790050506592, 0.000750000006519258, -0.000750000006519258, 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, -0.011164160445332527, 0.004308667965233326, 0.0, 0.09220898151397705, 0.04294712841510773, -0.007710248231887817, 4.999999873689376e-05, -4.999999873689376e-05, 0.04715113341808319, 0.0855628177523613, 0.0, 0.10543153434991837, -0.028747711330652237, -0.10422790050506592, 0.000750000006519258, -0.000750000006519258, 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, -0.011164160445332527, 0.004308667965233326, 0.0, 0.09220898151397705, 0.04294712841510773, -0.007710248231887817, 4.999999873689376e-05, -4.999999873689376e-05, 0.04715113341808319, 0.0855628177523613, 0.0, 0.10543153434991837, -0.028747711330652237, -0.10422790050506592, 0.000750000006519258, -0.000750000006519258, 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]]}]}
diff --git a/rc-table30-v1__rc-aloha/000026/meta.json b/rc-table30-v1__rc-aloha/000026/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14c04af2268a01fb6c37a0f537055331694a31de
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000026/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000026/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ae76725b0febd066949baa8be6594adba4af847e
--- /dev/null
+++ b/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">
+                        <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">
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+    <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000026/temporal.json b/rc-table30-v1__rc-aloha/000026/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fc8e18435e60934c8088101501b8f3bfdd1d8ca
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000026/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-aloha/000027/meta.json b/rc-table30-v1__rc-aloha/000027/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43148305e682c590f55c6e2c38fdb8352a1eed9b
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000027/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000027/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b7f51d5f6d427d1e3a3e7556dd51a2a312a2a04e
--- /dev/null
+++ b/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" />
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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" />
+                      </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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000027/temporal.json b/rc-table30-v1__rc-aloha/000027/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..50b3751f2831b189df6b9ce612a76dde57a99254
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000027/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, -0.030858436599373817, 0.0, -0.006227508187294006, -0.1450991928577423, -0.015507715754210949, 0.0988551452755928, 0.0010999999940395355, -0.0010999999940395355, 0.10145430266857147, 0.03855124115943909, 0.0, 0.25471729040145874, -0.18822075426578522, -0.32693544030189514, 0.003650000086054206, -0.003650000086054206, 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, -0.030858436599373817, 0.0, -0.006227508187294006, -0.14801234006881714, -0.034103021025657654, 0.0988551452755928, 0.0010999999940395355, -0.0010999999940395355, 0.10145430266857147, 0.03855124115943909, 0.0, 0.25471729040145874, -0.18822075426578522, -0.32693544030189514, 0.003650000086054206, -0.003650000086054206, 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], 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diff --git a/rc-table30-v1__rc-aloha/000028/meta.json b/rc-table30-v1__rc-aloha/000028/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b13d569efccf333e18267cd52e9c411264f33801
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000028/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000028/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..07cbac38fe1143c27ba6cdb7c4dbdebbad180bc6
--- /dev/null
+++ b/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">
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+          <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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+        <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">
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+            <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>
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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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+                        <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="0.0129779994809 0.0988840094305 0.0297900070486" quat="-0.00664455171175 -0.00555183068971 0.977605474585 0.210267836745" />
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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">
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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="0.0129780377753 0.0988839931145 0.0297899993657" quat="-0.0066445511249 -0.00555183021327 0.977605473305 0.210267842727" />
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+            <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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+                    <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000028/temporal.json b/rc-table30-v1__rc-aloha/000028/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..369952140ff362f34a72c707dc7015ab29b6945a
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000028/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, -0.03068399615585804, 0.0, 0.0, -0.05393684655427933, -0.011844475753605366, -0.05447761341929436, 0.0006000000284984708, -0.0006000000284984708, -0.009384872391819954, 0.0006279840017668903, 0.0, 0.03827213495969772, 0.03129453584551811, 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, 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, -0.03068399615585804, 0.0, 0.0, -0.05393684655427933, -0.011844475753605366, -0.05447761341929436, 0.0006000000284984708, -0.0006000000284984708, -0.009384872391819954, 0.0006279840017668903, 0.0, 0.03827213495969772, 0.03129453584551811, 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, 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, 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diff --git a/rc-table30-v1__rc-aloha/000029/meta.json b/rc-table30-v1__rc-aloha/000029/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..db2c1475b30ce523354fc79be04c1a6025ef5c9b
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000029/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000029/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fc2a329f9f199303219ec69a60028b0e25846a0f
--- /dev/null
+++ b/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">
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+        <body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
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+          <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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+        <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">
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+            <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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+            <geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
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+              <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" />
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+                  <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" />
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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">
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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">
+                          <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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+                        <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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+                        <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="0.0129779995238 0.0988839958066 0.0297899991089" quat="-0.00664455022081 -0.00555183202494 0.977605473219 0.21026784311" />
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+            <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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+                        <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="0.0129779702493 0.0988840112962 0.0297900106833" quat="-0.00664455137262 -0.00555182870347 0.977605472614 0.210267845973" />
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+                    <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000029/temporal.json b/rc-table30-v1__rc-aloha/000029/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cc3045d4bace532f746d8b09a42b0f381ac2657
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000029/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.05876883491873741, 0.06349615752696991, 0.0, 0.07469520717859268, 0.0, 0.05733842775225639, 4.999999873689376e-05, -4.999999873689376e-05, 0.03434723615646362, 0.04763956367969513, 0.0, 0.03658006712794304, -0.04404610022902489, 0.21716035902500153, 0.0006000000284984708, -0.0006000000284984708, 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, 0.05876883491873741, 0.06349615752696991, 0.0, 0.07469520717859268, 0.0, 0.05831529200077057, 4.999999873689376e-05, -4.999999873689376e-05, 0.03434723615646362, 0.10164618492126465, 0.0, 0.08889462053775787, -0.07790490239858627, 0.24819323420524597, 0.007249999791383743, -0.007249999791383743, 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], 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-4.999999873689376e-05, 0.0133446604013443, 0.09752940386533737, 0.0, -0.028974484652280807, -0.12455015629529953, 0.04008631035685539, 0.0005499999970197678, -0.0005499999970197678, 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, 0.019013959914445877, 0.05315186828374863, 0.0, 0.0761430636048317, -0.027840623632073402, -0.02025248482823372, 4.999999873689376e-05, -4.999999873689376e-05, 0.0133446604013443, 0.09752940386533737, 0.0, -0.028974484652280807, -0.12455015629529953, 0.04008631035685539, 0.0005499999970197678, -0.0005499999970197678, 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, 0.019013959914445877, 0.05315186828374863, 0.0, 0.0761430636048317, -0.027840623632073402, -0.02025248482823372, 4.999999873689376e-05, -4.999999873689376e-05, 0.0133446604013443, 0.09752940386533737, 0.0, -0.028974484652280807, -0.12455015629529953, 0.04008631035685539, 0.0005499999970197678, -0.0005499999970197678, 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, 0.019013959914445877, 0.05315186828374863, 0.0, 0.0761430636048317, -0.027840623632073402, -0.02025248482823372, 4.999999873689376e-05, -4.999999873689376e-05, 0.0133446604013443, 0.09752940386533737, 0.0, -0.028974484652280807, -0.12455015629529953, 0.04008631035685539, 0.0005499999970197678, -0.0005499999970197678, 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]]}]}
diff --git a/rc-table30-v1__rc-aloha/000030/meta.json b/rc-table30-v1__rc-aloha/000030/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c592e217c249feb3ab7065db419793b249d73e9
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000030/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000030/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..68f14d057d953e99f14c1d9bdbfce3828c87a7f6
--- /dev/null
+++ b/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">
+              <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" />
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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" />
+    <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000030/temporal.json b/rc-table30-v1__rc-aloha/000030/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..adeae408e670ba415f2934308c45ae16f6383d3a
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000030/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-aloha/000031/meta.json b/rc-table30-v1__rc-aloha/000031/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d27bf912f6a0b0c9130168e3e78dea770ba516c1
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000031/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000031/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6080a3ca4913c5710fcca1d6bbb589040fb427f1
--- /dev/null
+++ b/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">
+                        <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="0.0129780004823 0.0988840106977 0.0297900089011" quat="-0.00664455062894 -0.0055518322408 0.977605472098 0.210267848304" />
+                    </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="0.0129780274784 0.0988839987489 0.0297900057176" quat="-0.00664455062207 -0.0055518309238 0.977605472686 0.210267845606" />
+                    </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="-0.0622128657279 -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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000031/temporal.json b/rc-table30-v1__rc-aloha/000031/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..3adc845d9ec52dc75ac823d317b2680b10e77d27
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000031/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-aloha/000032/meta.json b/rc-table30-v1__rc-aloha/000032/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c8e38bacff0f29681f27253f0b62ee7d43cf7d3
--- /dev/null
+++ b/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": [
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+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
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+        "fl_link8"
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+          1.0,
+          0.0
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+    },
+    {
+      "object_type": "site",
+      "object_name": "fr_gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "fr_link7",
+        "fr_link8"
+      ],
+      "sh_correction": [
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+        [
+          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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000032/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000032/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d088e487724927b3edff921aa37497967121bf4b
--- /dev/null
+++ b/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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000032/temporal.json b/rc-table30-v1__rc-aloha/000032/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e7db99a69c92a197a84bdc92b978245769ef9a3
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000032/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.038498908281326294, 0.0007675359956920147, 0.0, 0.00533786416053772, 0.09763406962156296, -0.00976863969117403, 0.0, -0.0, 0.029236143454909325, 0.002825927920639515, 0.0, 0.07172972708940506, 0.02377617172896862, 0.0415864959359169, 0.000750000006519258, -0.000750000006519258, 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, 0.038498908281326294, 0.0007675359956920147, 0.0, 0.00533786416053772, 0.09763406962156296, -0.00976863969117403, 0.0, -0.0, 0.029236143454909325, 0.002825927920639515, 0.0, 0.07172972708940506, 0.02377617172896862, 0.0415864959359169, 0.000750000006519258, -0.000750000006519258, 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, 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diff --git a/rc-table30-v1__rc-aloha/000033/meta.json b/rc-table30-v1__rc-aloha/000033/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ddd84a65e583c164fe9c1e6102219ec8359b965
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000033/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000033/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa0a8debd25603300cc7ecccddeff65ff65dd096
--- /dev/null
+++ b/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">
+                        <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="0.0129779961713 0.0988839984726 0.029790003537" quat="-0.00664455154991 -0.00555183056338 0.977605471696 0.210267850189" />
+                    </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="-0.0622128657279 -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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000033/temporal.json b/rc-table30-v1__rc-aloha/000033/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..b96ef225e9a8a1590f17d9e5738188f081c6aca7
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000033/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-aloha/000034/meta.json b/rc-table30-v1__rc-aloha/000034/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d7e1a5e1bf9d6b6d96d1f649de1a1a569028a3d
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000034/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000034/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fea173b54622fd77d21b59eb68084c33303cc940
--- /dev/null
+++ b/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">
+        <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="0.0129780006421 0.0988839829916 0.0297899847118" quat="-0.00664455128431 -0.00555182983351 0.977605476361 0.210267828525" />
+                    </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="0.0129780295499 0.0988839856306 0.0297900020138" quat="-0.00664455226134 -0.00555183114751 0.977605473991 0.210267839478" />
+                    </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="-0.0091054641771 -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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000034/temporal.json b/rc-table30-v1__rc-aloha/000034/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..34aeda9b6ad2bb0a6f00b520b6d282a47e736cae
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000034/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-aloha/000035/meta.json b/rc-table30-v1__rc-aloha/000035/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5883839e89f19e2dd730ed71cdfcdb4fd5ce880
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000035/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000035/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..614c4dfe7ae9fee6f1beb76d21d5a7251b01a8b2
--- /dev/null
+++ b/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" />
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+                  <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000035/temporal.json b/rc-table30-v1__rc-aloha/000035/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d54b36e7fb93b9db9c7b64a72c339bce3aa3c92
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000035/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, -0.021299123764038086, 0.015908928588032722, 0.0, -0.1671832948923111, 0.13241741061210632, -0.04887808859348297, 0.0, -0.0, 0.0, 0.04797099903225899, -0.02794528752565384, -0.012350351549685001, 0.031015431508421898, -0.01146070845425129, 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, -0.021299123764038086, 0.015908928588032722, 0.0, -0.1671832948923111, 0.13241741061210632, -0.04887808859348297, 0.0, -0.0, 0.0, 0.04797099903225899, -0.02794528752565384, -0.012350351549685001, 0.031015431508421898, -0.01146070845425129, 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, 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-0.036056749522686005, 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, -0.009977968409657478, 0.016292696818709373, 0.0, -0.09212176501750946, 0.12374773621559143, 0.0, 0.0, -0.0, -0.012332907877862453, 0.04833732545375824, -0.027596408501267433, 0.10656539350748062, 0.11045540869235992, -0.036056749522686005, 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]]}]}
diff --git a/rc-table30-v1__rc-aloha/000036/meta.json b/rc-table30-v1__rc-aloha/000036/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd6d172dad6af01abfba22e889a30add40ec51d8
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000036/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000036/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fd376254264821dabc046366c2657d0cd24ffb09
--- /dev/null
+++ b/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" />
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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_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
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+    <position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
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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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000036/temporal.json b/rc-table30-v1__rc-aloha/000036/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..e321ef5579d3484b0e4270d50a35868d13cb79ad
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000036/temporal.json
@@ -0,0 +1 @@
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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, -0.021630559116601944, 0.0005233199917711318, 0.0, -0.008477783761918545, -0.04127250239253044, 0.0062623959966003895, 0.00044999999227002263, -0.00044999999227002263, 0.027421968057751656, 0.001064084004610777, 0.0, 0.11417098343372345, -0.03167830407619476, -0.027823179960250854, 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, -0.021630559116601944, 0.0005233199917711318, 0.0, -0.008477783761918545, -0.04127250239253044, 0.0062623959966003895, 0.00044999999227002263, -0.00044999999227002263, 0.027421968057751656, 0.001064084004610777, 0.0, 0.11417098343372345, -0.03167830407619476, -0.027823179960250854, 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]]}]}
diff --git a/rc-table30-v1__rc-aloha/000037/meta.json b/rc-table30-v1__rc-aloha/000037/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e615f755e4b91a138062d624b5e368e746609b1
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000037/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000037/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a380eaa045f816792eb9998c7bcaa2514278f647
--- /dev/null
+++ b/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">
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+    <position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
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+    <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000037/temporal.json b/rc-table30-v1__rc-aloha/000037/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bc0237fd45e8d366c50b447eb1a1e657cb2bd07
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000037/temporal.json
@@ -0,0 +1 @@
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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, 0.039353664964437485, 0.0, -0.00661127595230937, 0.32135337591171265, 0.01205380354076624, -0.37138277292251587, 0.0024500000290572643, -0.0024500000290572643, 0.0933951735496521, 0.0016746240435168147, 0.0, -0.136534184217453, 0.12652133405208588, 0.09156355261802673, 0.00279999990016222, -0.00279999990016222, 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, 0.039353664964437485, 0.0, -0.00661127595230937, 0.32135337591171265, 0.01205380354076624, -0.37138277292251587, 0.0024500000290572643, -0.0024500000290572643, 0.0933951735496521, 0.0016746240435168147, 0.0, -0.136534184217453, 0.12652133405208588, 0.09156355261802673, 0.002899999963119626, -0.002899999963119626, 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, 0.039353664964437485, 0.0, -0.00661127595230937, 0.32135337591171265, 0.01205380354076624, -0.37138277292251587, 0.0024500000290572643, -0.0024500000290572643, 0.0933951735496521, 0.0016746240435168147, 0.0, -0.136534184217453, 0.12652133405208588, 0.09156355261802673, 0.0031500000040978193, -0.0031500000040978193, 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, 0.039353664964437485, 0.0, -0.00661127595230937, 0.32135337591171265, 0.01205380354076624, -0.37138277292251587, 0.0024500000290572643, -0.0024500000290572643, 0.0933951735496521, 0.0016746240435168147, 0.0, -0.136534184217453, 0.12652133405208588, 0.09156355261802673, 0.0032999999821186066, -0.0032999999821186066, 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]]}]}
diff --git a/rc-table30-v1__rc-aloha/000038/meta.json b/rc-table30-v1__rc-aloha/000038/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64b9ab57e094f3b7d3a3e872162f35d619f78986
--- /dev/null
+++ b/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"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000038/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000038/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..787b43a4311dc7ef3e1e50c90b88d695e2a5787c
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000038/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">
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+    <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000038/temporal.json b/rc-table30-v1__rc-aloha/000038/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89ac5f829e049c6be8bd9c6c90aa44fa87e9c90
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000038/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-aloha/000039/meta.json b/rc-table30-v1__rc-aloha/000039/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32d20b6a9f5a752054d3d41654e17a52e1b2deea
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000039/meta.json
@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "place the pen on the table into the pencil case",
+  "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": 6236,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000039/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000039/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa19e2f3a0e21c49e17bf262e99be2186d864f57
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000039/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="0.0129780001687 0.0988840085522 0.0297900009452" quat="-0.00664455100015 -0.00555183025293 0.977605473996 0.21026783952" />
+                    </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="0.0129779599795 0.0988839809935 0.0297899853733" quat="-0.00664455170311 -0.00555183042059 0.977605475556 0.210267832239" />
+                    </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="-0.0622128657279 -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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000039/temporal.json b/rc-table30-v1__rc-aloha/000039/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..80ad3539b6671a4dec1e9b29a7638933ba460a26
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000039/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.023950612172484398, 0.0, 0.0, -0.011478152126073837, 0.05899560824036598, 0.03438212350010872, 0.0005000000237487257, -0.0005000000237487257, 0.06551966071128845, 0.001517627970315516, 0.0, 0.19258175790309906, 0.049872394651174545, -0.09458136558532715, 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, 0.023950612172484398, 0.0, 0.0, -0.011478152126073837, 0.05899560824036598, 0.03438212350010872, 0.0005000000237487257, -0.0005000000237487257, 0.06551966071128845, 0.001517627970315516, 0.0, 0.19258175790309906, 0.049872394651174545, -0.09458136558532715, 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, 0.023950612172484398, 0.0, 0.0, -0.011478152126073837, 0.05899560824036598, 0.03438212350010872, 0.0005000000237487257, -0.0005000000237487257, 0.06551966071128845, 0.001517627970315516, 0.0, 0.19258175790309906, 0.049872394651174545, -0.09458136558532715, 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, 0.023950612172484398, 0.0, 0.0, -0.011478152126073837, 0.05899560824036598, 0.03438212350010872, 0.0005000000237487257, -0.0005000000237487257, 0.06551966071128845, 0.001517627970315516, 0.0, 0.19258175790309906, 0.049872394651174545, -0.09458136558532715, 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]]}, 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diff --git a/rc-table30-v1__rc-aloha/000040/meta.json b/rc-table30-v1__rc-aloha/000040/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8429fe95a62c8bbbe6fd21ee20aabb2436ea75a
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000040/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": 5096,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000040/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000040/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3da36a6db7e0e53ea91cdb31ab467390ff99d374
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000040/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="0.0129780005869 0.0988840059759 0.029789998849" quat="-0.00664455210742 -0.00555183067796 0.977605474317 0.210267837981" />
+                    </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="0.0129779813335 0.0988839901659 0.0297900001703" quat="-0.00664455071693 -0.00555182998458 0.977605472112 0.210267848295" />
+                    </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="-0.0091054641771 -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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000040/temporal.json b/rc-table30-v1__rc-aloha/000040/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..39ee2251756ac123f46825e9a491eea3ecd51957
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000040/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.04357511177659035, 0.0313992016017437, 0.0, 0.03853379562497139, -0.02103746309876442, 0.011199047788977623, 0.0, -0.0, 0.0635484904050827, 0.0031399200670421124, -0.010658283717930317, 0.07424166053533554, 0.07251470535993576, -0.01749633252620697, 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, 0.04357511177659035, 0.0313992016017437, 0.0, 0.03853379562497139, -0.02103746309876442, 0.011199047788977623, 0.0, -0.0, 0.0635484904050827, 0.0031399200670421124, -0.010658283717930317, 0.07424166053533554, 0.07251470535993576, -0.01749633252620697, 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]]}, 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diff --git a/rc-table30-v1__rc-aloha/000041/meta.json b/rc-table30-v1__rc-aloha/000041/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eac5b37db584bf879df5c2fddbb6bf1437af743
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000041/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": 1307,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000041/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000041/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a5fd3fb010c4eed5cbf38b4ea3ff7648f850c0ad
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000041/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="0.0129779999937 0.0988840001775 0.0297899935045" quat="-0.00664455081504 -0.00555183049839 0.977605474084 0.210267839107" />
+                    </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="0.01297798932 0.0988839906584 0.0297899976419" quat="-0.00664455219021 -0.00555183022632 0.977605472659 0.210267845698" />
+                    </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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000041/temporal.json b/rc-table30-v1__rc-aloha/000041/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..095663f9d63eb75a709b4c686900f8fa1b89c1ed
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000041/temporal.json
@@ -0,0 +1 @@
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0.8245953321456909, 0.014426187612116337, -0.8909697532653809, 0.0017000000225380063, -0.0017000000225380063, 0.1719280630350113, 0.0018141759792342782, 0.0, -0.05013405531644821, -0.021403787657618523, -0.01482740044593811, 0.0013000000035390258, -0.0013000000035390258, 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, -0.045633502304553986, 0.0, -0.0062623959966003895, 0.8245953321456909, 0.014426187612116337, -0.8899579644203186, 0.0017000000225380063, -0.0017000000225380063, 0.1719280630350113, 0.0018141759792342782, 0.0, -0.05013405531644821, -0.021403787657618523, -0.01482740044593811, 0.001449999981559813, -0.001449999981559813, 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, -0.045633502304553986, 0.0, -0.0062623959966003895, 0.8245953321456909, 0.014426187612116337, -0.8899579644203186, 0.0017000000225380063, -0.0017000000225380063, 0.1719280630350113, 0.0018141759792342782, 0.0, -0.05013405531644821, -0.021403787657618523, -0.01482740044593811, 0.0015999999595806003, -0.0015999999595806003, 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, -0.045633502304553986, 0.0, -0.0062623959966003895, 0.8245953321456909, 0.014426187612116337, -0.8899579644203186, 0.0017500000540167093, -0.0017500000540167093, 0.1719280630350113, 0.0018141759792342782, 0.0, -0.05013405531644821, -0.021403787657618523, -0.01482740044593811, 0.0018500000005587935, -0.0018500000005587935, 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]]}]}
diff --git a/rc-table30-v1__rc-aloha/000042/meta.json b/rc-table30-v1__rc-aloha/000042/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..987462de8de2ddc0b25b02537901553d883f6581
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000042/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": 7126,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000042/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000042/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..496f4e8c3cd406ada427e784833c1ab7d4d37b8c
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000042/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" />
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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" />
+    <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000042/temporal.json b/rc-table30-v1__rc-aloha/000042/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..b14c4bc2f745d7ed666b40793dff05f1588d135f
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000042/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-aloha/000043/meta.json b/rc-table30-v1__rc-aloha/000043/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1774ecc4204eb4365bbe0250150891e05999ef7f
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000043/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": 9581,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000043/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000043/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aa27b3b2148191cb5bcebb6985859c1c6ce4d18b
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000043/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" />
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+                  <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000043/temporal.json b/rc-table30-v1__rc-aloha/000043/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b560b91e06f841bc040aa5eddbee2f6ce0f85eb
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000043/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.0274742990732193, 0.0010466399835422635, 0.0, -0.08226590603590012, 0.14475031197071075, 0.008460340090095997, 0.0, -0.0, 0.037068501114845276, 0.004535439889878035, 0.0, 0.07195650041103363, 0.055925462394952774, 0.034957777708768845, 0.000750000006519258, -0.000750000006519258, 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, 0.0274742990732193, 0.0010466399835422635, 0.0, -0.08226590603590012, 0.14475031197071075, 0.008460340090095997, 0.0, -0.0, 0.037068501114845276, 0.004535439889878035, 0.0, 0.07195650041103363, 0.055925462394952774, 0.034957777708768845, 0.000750000006519258, -0.000750000006519258, 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, 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diff --git a/rc-table30-v1__rc-aloha/000044/meta.json b/rc-table30-v1__rc-aloha/000044/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8badcc043e94c498709940140876f0fe63ee54e
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000044/meta.json
@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "place the pen on the table into the pencil case",
+  "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": 5540,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000044/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000044/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c67bcccdb24e3dcde951eb04deceb9b3c705f505
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000044/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">
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+          <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">
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+          <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">
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+          <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">
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+          <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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+        <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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+          <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">
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+            <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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+                      <geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_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">
+                          <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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+                        <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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+                        <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" />
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+                      <camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0129779975475 0.0988839990903 0.0297900002017" quat="-0.00664455277153 -0.00555183023108 0.977605474599 0.21026783666" />
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+              <geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fr_link2_geom" />
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+                <geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fr_link3_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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+                        <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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+                        <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" />
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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="0.0129779948898 0.0988840208371 0.0297900081223" quat="-0.00664455108981 -0.00555183065943 0.977605474207 0.210267838523" />
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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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+                        <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000044/temporal.json b/rc-table30-v1__rc-aloha/000044/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..44726f7db804a00cd31c9548dcf950202ba547d1
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000044/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, -0.010222183540463448, 0.0011338599724695086, -0.005773963872343302, 0.10503032058477402, 0.10503032058477402, 0.06152498722076416, 0.0, -0.0, -0.06775249540805817, 0.0023723840713500977, 0.0, 0.0886155217885971, 0.06705473363399506, -0.06794437766075134, 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, -0.010222183540463448, 0.0011338599724695086, -0.005773963872343302, 0.10503032058477402, 0.1027451604604721, 0.06152498722076416, 0.0, -0.0, -0.06775249540805817, 0.0023723840713500977, 0.0, 0.0886155217885971, 0.06705473363399506, -0.06794437766075134, 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, 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diff --git a/rc-table30-v1__rc-aloha/000045/meta.json b/rc-table30-v1__rc-aloha/000045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eda034decbca07f81251ab4e83320699cc6b85d0
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000045/meta.json
@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "place the pen on the table into the pencil case",
+  "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": 5712,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000045/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000045/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cd1bef064af52119aaba6d7664dd62a6ecb21ff2
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000045/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" />
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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" />
+                      </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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000045/temporal.json b/rc-table30-v1__rc-aloha/000045/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..57b0784e6682948f83c63baebdf17aaf20c4904a
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000045/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.0065240561962127686, 0.0008024239796213806, -0.002756152069196105, 0.13288839161396027, 0.07237515598535538, 0.04934907704591751, 0.0, -0.0, -0.042877353727817535, 0.0035062439274042845, 0.0, 0.036614954471588135, 0.10387901961803436, -0.04125506058335304, 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, 0.0065240561962127686, 0.0008024239796213806, -0.002756152069196105, 0.13288839161396027, 0.07237515598535538, 0.04934907704591751, 0.0, -0.0, -0.042877353727817535, 0.0035062439274042845, 0.0, 0.036614954471588135, 0.10387901961803436, -0.04125506058335304, 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, 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-0.05109347775578499, 0.001308299950323999, -0.004169115796685219, 0.07438121736049652, 0.05800129845738411, 0.05001194775104523, 0.0, -0.0, -0.004204004071652889, 0.0021979440934956074, 0.0, 0.1813652664422989, -0.011931695975363255, -0.24629183113574982, 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, -0.05109347775578499, 0.001308299950323999, -0.004169115796685219, 0.07438121736049652, 0.05800129845738411, 0.05001194775104523, 0.0, -0.0, -0.004204004071652889, 0.0021979440934956074, 0.0, 0.1813652664422989, -0.011931695975363255, -0.24629183113574982, 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, 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diff --git a/rc-table30-v1__rc-aloha/000046/meta.json b/rc-table30-v1__rc-aloha/000046/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2e275b350a1b30acd1ce7d904a780d44afff3a8
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000046/meta.json
@@ -0,0 +1,133 @@
+{
+  "format_version": 8,
+  "prompt": "open the box lid and pour the chips from the box onto the plate.",
+  "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": 4224,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000046/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000046/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..88bb00ca357202cd03c16c31ea6e806bb5178e1b
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000046/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" />
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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" />
+    <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000046/temporal.json b/rc-table30-v1__rc-aloha/000046/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..e424a424ad14d68a085c946b79a3e460257665b7
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000046/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-aloha/000047/meta.json b/rc-table30-v1__rc-aloha/000047/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc360b9468fc11986167d669e9bb6d7ec081e796
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000047/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": 10313,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000047/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000047/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3580d090ac469646550df282d28f4da78746f888
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000047/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="0.0129779994116 0.0988839944931 0.0297899965138" quat="-0.00664455129558 -0.00555183097625 0.977605472809 0.210267845008" />
+                    </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="0.0129780116088 0.0988840120379 0.0297899990877" quat="-0.00664455144983 -0.00555183018215 0.977605475573 0.210267832174" />
+                    </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="-0.0622128657279 -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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000047/temporal.json b/rc-table30-v1__rc-aloha/000047/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba85fb8d0fb9eb29e6fd9ced20e4980d17d9876
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000047/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.028154615312814713, 0.0, -0.012489903718233109, 0.23964567482471466, 0.07385789602994919, -0.27507442235946655, 0.0005499999970197678, -0.0005499999970197678, -0.011931695975363255, 0.004047008231282234, 0.0, 0.02103746309876442, 0.133411705493927, -0.008233567699790001, 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, 0.028154615312814713, 0.0, -0.012489903718233109, 0.23964567482471466, 0.07385789602994919, -0.27507442235946655, 0.0005499999970197678, -0.0005499999970197678, -0.011931695975363255, 0.004047008231282234, 0.0, 0.02103746309876442, 0.133411705493927, -0.008233567699790001, 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], 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diff --git a/rc-table30-v1__rc-aloha/000048/meta.json b/rc-table30-v1__rc-aloha/000048/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3207c48990e4f870823bcc8d49e9777f273027cd
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000048/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": 10898,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000048/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000048/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b98ed0a8617c3765159f17ff41dfa5e1ef66d8f1
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000048/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" />
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+      <body name="body_Link" pos="0 0 0" quat="1 0 0 0">
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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="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">
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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="0.0129780072222 0.0988840084321 0.0297900017158" quat="-0.00664455118562 -0.00555183044055 0.977605472453 0.21026784668" />
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+          <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000048/temporal.json b/rc-table30-v1__rc-aloha/000048/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..89b0c001ada47a24d0a295b0fa24c7feb906c5b5
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000048/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, -0.04533695429563522, 0.0, -0.018787188455462456, -0.08416730165481567, 0.04247613996267319, 0.11085662245750427, 0.00044999999227002263, -0.00044999999227002263, 0.012734119780361652, 0.0033841358963400126, 0.0, -0.05705932527780533, 0.13873213529586792, 0.025468239560723305, 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, -0.04533695429563522, 0.0, -0.018787188455462456, -0.08416730165481567, 0.04247613996267319, 0.11085662245750427, 0.00044999999227002263, -0.00044999999227002263, 0.012734119780361652, 0.0033841358963400126, 0.0, -0.05705932527780533, 0.13873213529586792, 0.025468239560723305, 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, 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[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, -0.04533695429563522, 0.0, -0.018787188455462456, -0.08416730165481567, 0.04247613996267319, 0.11085662245750427, 0.00044999999227002263, -0.00044999999227002263, 0.005058759823441505, 0.003907456062734127, 0.0, -0.02440415509045124, 0.03837680071592331, -0.024508820846676826, 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, -0.04533695429563522, 0.0, -0.018787188455462456, -0.08416730165481567, 0.04247613996267319, 0.11085662245750427, 0.00044999999227002263, -0.00044999999227002263, 0.005058759823441505, 0.003907456062734127, 0.0, -0.02440415509045124, 0.03837680071592331, -0.024508820846676826, 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, -0.04533695429563522, 0.0, -0.018787188455462456, -0.08416730165481567, 0.04247613996267319, 0.11085662245750427, 0.00044999999227002263, -0.00044999999227002263, 0.005058759823441505, 0.003907456062734127, 0.0, -0.02440415509045124, 0.03837680071592331, -0.024508820846676826, 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]]}]}
diff --git a/rc-table30-v1__rc-aloha/000049/meta.json b/rc-table30-v1__rc-aloha/000049/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9099b7d4c7a26c5e90f8b435fa52d6a4f1ee241
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000049/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": 9599,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "ALOHA"
+  }
+}
diff --git a/rc-table30-v1__rc-aloha/000049/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v1__rc-aloha/000049/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..593bb3e10990eb8410e52ae2ca4680c0458c6b27
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000049/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" />
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+    <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>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-aloha/000049/temporal.json b/rc-table30-v1__rc-aloha/000049/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..6056dc9ba5d795d0955128ac9cc2fb1cd104af72
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/000049/temporal.json
@@ -0,0 +1 @@
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0.0012385239824652672, 0.0, -0.020967688411474228, 0.11654336750507355, -0.009977968409657478, 0.0, -0.0, 0.005878628231585026, 0.005285532213747501, 0.0, 0.022851640358567238, 0.06886891275644302, 0.15839152038097382, 0.000750000006519258, -0.000750000006519258, 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, 0.0215782281011343, 0.0012385239824652672, 0.0, -0.020967688411474228, 0.11778188496828079, -0.009977968409657478, 0.0, -0.0, 0.005878628231585026, 0.005285532213747501, 0.0, 0.022851640358567238, 0.06886891275644302, 0.15839152038097382, 0.000750000006519258, -0.000750000006519258, 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, 0.0019537280313670635, 0.0012385239824652672, 0.0, -0.020967688411474228, 0.11778188496828079, -0.009977968409657478, 0.0, -0.0, 0.005878628231585026, 0.005285532213747501, 0.0, 0.022851640358567238, 0.06886891275644302, 0.15839152038097382, 0.000750000006519258, -0.000750000006519258, 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, -0.0007152039906941354, 0.0012385239824652672, 0.0, -0.020967688411474228, 0.11778188496828079, -0.009977968409657478, 0.0, -0.0, 0.005878628231585026, 0.0031399200670421124, 0.0, 0.022851640358567238, 0.06886891275644302, 0.15839152038097382, 0.000750000006519258, -0.000750000006519258, 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, -0.0019362840102985501, 0.0012385239824652672, 0.0, -0.020967688411474228, 0.11804354935884476, -0.009977968409657478, 0.0, -0.0, 0.005878628231585026, 0.0031399200670421124, 0.0, 0.022851640358567238, 0.06886891275644302, 0.15839152038097382, 0.000750000006519258, -0.000750000006519258, 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, -0.0019362840102985501, 0.0012385239824652672, 0.0, -0.020967688411474228, 0.11804354935884476, -0.009977968409657478, 0.0, -0.0, 0.005878628231585026, 0.0031399200670421124, 0.0, 0.022851640358567238, 0.06886891275644302, 0.15839152038097382, 0.000750000006519258, -0.000750000006519258, 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, -0.0019362840102985501, 0.0012385239824652672, 0.0, -0.020967688411474228, 0.11804354935884476, -0.009977968409657478, 0.0, -0.0, 0.005878628231585026, 0.0031399200670421124, 0.0, 0.022851640358567238, 0.06886891275644302, 0.15839152038097382, 0.000750000006519258, -0.000750000006519258, 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, -0.0019362840102985501, 0.0012385239824652672, 0.0, -0.020967688411474228, 0.11804354935884476, -0.009977968409657478, 0.0, -0.0, 0.005878628231585026, 0.0031399200670421124, 0.0, 0.022851640358567238, 0.06886891275644302, 0.15839152038097382, 0.000750000006519258, -0.000750000006519258, 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]]}]}
diff --git a/rc-table30-v1__rc-aloha/episode_indices.txt b/rc-table30-v1__rc-aloha/episode_indices.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19f3b4ba60751716693c1b93313fb1f356e35265
--- /dev/null
+++ b/rc-table30-v1__rc-aloha/episode_indices.txt
@@ -0,0 +1,50 @@
+1250
+5860
+956
+7221
+4331
+9934
+5144
+8001
+3777
+2832
+4745
+2798
+1541
+5601
+3555
+2529
+7733
+1131
+3602
+512
+8839
+7750
+8301
+9321
+230
+6849
+1658
+1308
+7965
+6657
+8353
+10116
+9691
+2469
+5316
+2890
+7349
+1316
+8220
+6236
+5096
+1307
+7126
+9581
+5540
+5712
+4224
+10313
+10898
+9599
diff --git a/rc-table30-v1__rc-franka/000000/meta.json b/rc-table30-v1__rc-franka/000000/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e558086b85c0fa7d75462d1826e6d3331f19f93
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000000/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 133,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000000/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000000/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1c4c439b522469ba25d9cce9c940c2bc11f84cff
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000000/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279926596 -0.00499735860335 0.155440676912" quat="-0.192610306292 -0.653136793806 0.705244247273 0.197342722631" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000000/temporal.json b/rc-table30-v1__rc-franka/000000/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a466cb4786579aa1f3564d13761a16242076751
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000000/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.0002690185501705855, -0.78059983253479, 0.00024457628023810685, -2.7578766345977783, -0.005327040329575539, 1.9604408740997314, -0.019089261069893837, 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": [-0.00026179171982221305, -0.780597984790802, 0.00024211725394707173, -2.757878065109253, -0.005326539743691683, 1.960437297821045, -0.019086439162492752, 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": [-0.0002632585819810629, -0.7806018590927124, 0.00024211725394707173, -2.7578768730163574, -0.00532236834987998, 1.9604371786117554, -0.019082730636000633, 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": [-0.0002639210724737495, -0.7806036472320557, 0.00023860482906457037, -2.7578773498535156, -0.005322486627846956, 1.9604419469833374, -0.01908356137573719, 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": [-0.000264974805759266, -0.7806023955345154, 0.0002408879081485793, -2.757878303527832, -0.005324280820786953, 1.9604414701461792, -0.01908356137573719, 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": [-0.000264895788859576, -0.7806128263473511, 0.0002445759600959718, -2.757875919342041, -0.005322218406945467, 1.9604376554489136, -0.019088435918092728, 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": [-0.00026398655609227717, 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"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": [-0.04146772623062134, -0.6862276196479797, -0.08800526708364487, -2.6540520191192627, -0.03469109535217285, 1.9381684064865112, -0.13228631019592285, 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": [-0.03522103652358055, -0.7005728483200073, -0.07450849562883377, -2.67002272605896, -0.030819043517112732, 1.9403600692749023, -0.11500505357980728, 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": [-0.029136575758457184, -0.7152398228645325, -0.060893964022397995, -2.6858484745025635, -0.025917964056134224, 1.9426343441009521, -0.09773853421211243, 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": [-0.022985396906733513, -0.7293682098388672, -0.04709790647029877, -2.7018277645111084, -0.020289650186896324, 1.9453054666519165, -0.08026616275310516, 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": [-0.01692245528101921, -0.7441902756690979, -0.03362095355987549, -2.717590570449829, -0.01603670045733452, 1.9477005004882812, -0.06280708312988281, 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": [-0.010527720674872398, -0.7584458589553833, -0.020099524408578873, -2.733659267425537, -0.012111537158489227, 1.950080156326294, -0.04539515823125839, 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": [-0.004417469259351492, -0.7730961441993713, -0.006587583106011152, -2.7493913173675537, -0.0077082328498363495, 1.9530656337738037, -0.02822093851864338, 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": [-3.1039937312016264e-05, -0.7808458209037781, 0.0012310151942074299, -2.757910966873169, -0.005642127711325884, 1.9542204141616821, -0.02053694799542427, 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": [-0.0001687843760009855, -0.7805595993995667, 0.0005623298930004239, -2.7578272819519043, -0.005525618325918913, 1.954426884651184, -0.02052019163966179, 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": [-0.00017036832286976278, -0.7804867029190063, 0.0005325524252839386, -2.757819890975952, -0.0054771676659584045, 1.9545289278030396, -0.020511556416749954, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000001/meta.json b/rc-table30-v1__rc-franka/000001/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b0588257ca0e264f3c6122536b570f5238051e0
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000001/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 895,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000001/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000001/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..84fd9564efe7b3150bc5b690be3207650a589998
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000001/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405717052 0.000224431422332 0.176650151" quat="-0.189077799257 -0.66145680666 0.706997285727 0.163949128471" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000001/temporal.json b/rc-table30-v1__rc-franka/000001/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec70fa5afb55ba24864dd8b68364c8d2fc948d4
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000001/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.0007977198110893369, -0.7840754985809326, -0.0008909899042919278, -2.753357172012329, -0.0031404360197484493, 1.9637476205825806, -0.0155731700360775, 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": [-0.0007954396423883736, -0.7840737104415894, -0.0008910951437428594, -2.753361225128174, -0.003138113534078002, 1.9637470245361328, -0.015576377511024475, 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": [-0.0007945332326926291, -0.7840843796730042, -0.0008897619554772973, -2.753364324569702, -0.003141951747238636, 1.963751196861267, -0.015568816103041172, 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": 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0.0, 0.6651982378214598, -0.6412511012598873], "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": [0.0004894759622402489, -0.7845938801765442, 0.00023555679945275187, -2.7520039081573486, -0.0033351245801895857, 1.9630557298660278, 0.017100103199481964, 0.541629958152771, 0.0, 0.541629958152771, -0.5221312796592713, 0.541629958152771, 0.0, 0.541629958152771, -0.5221312796592713], "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": [0.0004957726923748851, -0.7846037149429321, 0.00024117637076415122, -2.7519984245300293, -0.003296914743259549, 1.9630523920059204, 0.016892028972506523, 0.4143171936273575, 0.0, 0.4143171936273575, -0.3994017746567726, 0.4143171936273575, 0.0, 0.4143171936273575, -0.3994017746567726], "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": [0.0004901173524558544, -0.7845954895019531, 0.00023800588678568602, -2.751999855041504, -0.0032797905150800943, 1.963056206703186, 0.016735026612877846, 0.29074890464544295, 0.0, 0.29074890464544295, -0.280281944078207, 0.29074890464544295, 0.0, 0.29074890464544295, -0.280281944078207], "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": [0.0005048430757597089, -0.7843855619430542, 0.00023751353728584945, -2.7536585330963135, -0.0033499880228191614, 1.9630135297775269, 0.017106860876083374, 0.12224668562412262, 0.0, 0.12224668562412262, -0.1178458049416542, 0.12224668562412262, 0.0, 0.12224668562412262, -0.1178458049416542], "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": [0.0005126646719872952, -0.7842081189155579, 0.00023843611415941268, -2.7537219524383545, -0.0033600551541894674, 1.9630192518234253, 0.017164170742034912, 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": [0.0005124888848513365, -0.7841951847076416, 0.00024210286210291088, -2.7537271976470947, -0.0033634707797318697, 1.9630237817764282, 0.017179321497678757, 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": [0.0005068167229183018, -0.7841902375221252, 0.00024191185366362333, -2.7537264823913574, -0.0033640703186392784, 1.9630279541015625, 0.01717693917453289, 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": [0.0005054611247032881, -0.7841872572898865, 0.00023945316206663847, -2.7537035942077637, -0.0033645955845713615, 1.9630279541015625, 0.017177175730466843, 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": [0.0005066947196610272, -0.7841887474060059, 0.00023997525568120182, -2.7537102699279785, -0.0033677739556878805, 1.9630239009857178, 0.017177186906337738, 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": [0.0005093213403597474, -0.7841873168945312, 0.0002399722143309191, -2.753718614578247, -0.0033625494688749313, 1.9630244970321655, 0.017177967354655266, 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": [0.000511680671479553, -0.7841864228248596, 0.00024120167654473335, -2.7537214756011963, -0.0033685490489006042, 1.9630217552185059, 0.017178794369101524, 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": [0.0005125970346853137, -0.7841901779174805, 0.00024120460147969425, -2.753730058670044, -0.0033672682475298643, 1.9630248546600342, 0.017173076048493385, 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": [0.0005114352097734809, -0.784190833568573, 0.00023986755695659667, -2.7537388801574707, -0.003366196295246482, 1.9630264043807983, 0.01717590168118477, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000002/meta.json b/rc-table30-v1__rc-franka/000002/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..844ce6a07ae4d80d681011a311892924378b02a7
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000002/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1330,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000002/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000002/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..88d52a2f0405f7b9d7388e4c8b421f5eedb9ce25
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000002/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405611465 0.000224430952001 0.17665013556" quat="-0.18907780602 -0.661456806341 0.706997283447 0.163949131787" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000002/temporal.json b/rc-table30-v1__rc-franka/000002/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae8db86bf576bcc758d5f20170639634c4879d4a
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000002/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.0009946003556251526, -0.7839580178260803, -0.0014060348039492965, -2.7528364658355713, -0.003630951279774308, 1.9643906354904175, -0.014425279572606087, 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": [-0.0009970912942662835, -0.7839604616165161, -0.001407767878845334, -2.752842903137207, -0.0036270972341299057, 1.9643906354904175, -0.014427338726818562, 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": [-0.0009902262827381492, -0.7839630842208862, -0.001405022689141333, -2.7528440952301025, -0.0036276120226830244, 1.9643911123275757, -0.01442552451044321, 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": [-0.0009978240123018622, -0.7839587926864624, -0.0014064488932490349, -2.752851963043213, -0.0036285105161368847, 1.9643901586532593, -0.014425897970795631, 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": [-0.000997469061985612, -0.7839648127555847, -0.0014074521604925394, -2.752826452255249, -0.003628022037446499, 1.9643915891647339, -0.01443264540284872, 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": [-0.0010028707329183817, -0.7839646935462952, -0.0014067390002310276, -2.7528297901153564, -0.0036296299658715725, 1.9643878936767578, -0.01443313155323267, 0.08480178117752075, 0.0, 0.08480178117752075, -0.08174891705513, 0.08480178117752075, 0.0, 0.08480178117752075, -0.08174891705513], "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": [-0.0009963781340047717, -0.7839590907096863, -0.0014046115102246404, -2.752830743789673, -0.003629612270742655, 1.9643915891647339, -0.014435005374252796, 0.22709252238273622, 0.0, 0.22709252238273622, -0.21891719157695771, 0.22709252238273622, 0.0, 0.22709252238273622, -0.21891719157695771], "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": [-0.000994629692286253, -0.7839576601982117, -0.0014077957021072507, -2.7528436183929443, -0.003628023900091648, 1.9643901586532593, -0.014433139935135841, 0.36189427524805073, 0.0, 0.36189427524805073, -0.3488660813391209, 0.36189427524805073, 0.0, 0.36189427524805073, -0.3488660813391209], "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": [-0.0009958677692338824, -0.7839576601982117, -0.0014079292304813862, -2.752847194671631, -0.0036312611773610115, 1.9643906354904175, -0.014430837705731392, 0.48920703977346425, 0.0, 0.48920703977346425, -0.4715955863416195, 0.48920703977346425, 0.0, 0.48920703977346425, -0.4715955863416195], "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": [-0.0009967644000425935, -0.7839626669883728, -0.0014109915355220437, -2.752855062484741, -0.0036284099332988262, 1.964389681816101, -0.014435641467571259, 0.6165198229253293, 0.0, 0.6165198229253293, -0.5943251093000174, 0.6165198229253293, 0.0, 0.6165198229253293, -0.5943251093000174], "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": [-0.0010097910417243838, -0.7839580774307251, -0.0014109814073890448, -2.752838134765625, -0.0036237335298210382, 1.9643927812576294, -0.014430711977183819, 0.747577090933919, 0.0, 0.747577090933919, -0.7206643156602979, 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diff --git a/rc-table30-v1__rc-franka/000003/meta.json b/rc-table30-v1__rc-franka/000003/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cee0439fbd92bfcf6d3e82a130d2152d6ad01c6
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000003/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 148,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000003/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000003/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c1daac5135ec94d367abbd5395dd0f0e51137899
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000003/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279925509 -0.00499735948645 0.15544067978" quat="-0.192610311868 -0.653136791405 0.705244247699 0.197342723613" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000003/temporal.json b/rc-table30-v1__rc-franka/000003/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..390c8beabd9bbed7007b4bb5a59cedd9b9c79c5c
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000003/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-5.911181142437272e-05, -0.7799310088157654, 0.00035830450360663235, -2.7575509548187256, -0.005185664631426334, 1.9544882774353027, -0.02003992162644863, 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": [-6.226939876796678e-05, -0.7799309492111206, 0.00035642870352603495, -2.7575511932373047, -0.005185247864574194, 1.9544925689697266, -0.02005225047469139, 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": [-6.226944969967008e-05, -0.7799366116523743, 0.00035460328217595816, -2.757547616958618, -0.005186163820326328, 1.9544949531555176, -0.020042220130562782, 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": [-5.919196337345056e-05, -0.7799268364906311, 0.0003474878321867436, -2.7575523853302, -0.005186161026358604, 1.9544944763183594, -0.020044781267642975, 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": [-5.817206692881882e-05, -0.7799388766288757, 0.00034684137790463865, -2.757547616958618, -0.005185824353247881, 1.954493522644043, -0.020046904683113098, 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": [-6.217884947545826e-05, -0.7799329161643982, 0.0003509842499624938, -2.7575523853302, -0.005181442480534315, 1.9544926881790161, -0.020038140937685966, 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": [-6.0723337810486555e-05, -0.7799311876296997, 0.0003460992011241615, -2.75754976272583, -0.005189965013414621, 1.9544926881790161, -0.02004285901784897, 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": [-5.826461347169243e-05, -0.7724224925041199, 0.0003134978760499507, -2.752769708633423, -0.005242857150733471, 1.9495362043380737, -0.020145568996667862, 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": [-0.00023016725026536733, -0.7152524590492249, -0.0003549940884113312, -2.7085983753204346, -0.005253980401903391, 1.9593868255615234, -0.02019445225596428, 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": [-0.0002206255157943815, -0.648411750793457, -0.0005108825280331075, -2.6616928577423096, -0.005251679103821516, 1.968584418296814, -0.020195145159959793, 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": [-0.00026317694573663175, -0.5876038670539856, -0.000553938327357173, -2.615140676498413, -0.005251661408692598, 1.9776126146316528, -0.020195752382278442, 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": [-0.0003623326774686575, -0.5503210425376892, -0.0006327067385427654, -2.588141441345215, -0.005251220893114805, 1.9813294410705566, -0.0201997272670269, 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": [-0.00035062796087004244, -0.5622051358222961, -0.0005949416081421077, 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diff --git a/rc-table30-v1__rc-franka/000004/meta.json b/rc-table30-v1__rc-franka/000004/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..faf4d710fb8f6a0a197b435adfaad95a3d1d3b7e
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000004/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 271,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000004/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000004/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..42bfbb5ba360d4525caaa5b615da3e6876acccfa
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000004/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870280056924 -0.00499735936525 0.155440671723" quat="-0.192610315336 -0.653136789574 0.705244247651 0.19734272646" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000004/temporal.json b/rc-table30-v1__rc-franka/000004/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e72b705fbc0d5a85143487cab37cbdfd3882567
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000004/temporal.json
@@ -0,0 +1 @@
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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": [-0.07813802361488342, -0.5786258578300476, -0.126138374209404, -2.55977725982666, -0.029449503868818283, 1.9432487487792969, -0.19897186756134033, 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": [-0.07098983973264694, -0.5972961187362671, -0.11446204036474228, -2.578221559524536, -0.02710096351802349, 1.9444117546081543, -0.1823909431695938, 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": [-0.06382230669260025, -0.6162861585617065, -0.10283034294843674, -2.596309185028076, -0.0241334680467844, 1.945493459701538, -0.1658942550420761, 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": [-0.05672472342848778, -0.6349579691886902, -0.09116166085004807, -2.614821434020996, -0.021475600078701973, 1.9463107585906982, -0.14849461615085602, 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": [-0.04945901408791542, -0.6535102725028992, -0.07924798130989075, -2.6333136558532715, -0.01943637616932392, 1.947262167930603, -0.1316792368888855, 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": [-0.042540520429611206, -0.6723821759223938, -0.06767870485782623, -2.651484966278076, -0.01746739074587822, 1.948218584060669, -0.11495063453912735, 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": [-0.035319216549396515, -0.6912859082221985, -0.05585649609565735, -2.6699156761169434, -0.015472457744181156, 1.9492955207824707, -0.09852146357297897, 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": [-0.028220759704709053, -0.7099226117134094, -0.04411144554615021, -2.6882638931274414, -0.01355786994099617, 1.9503196477890015, -0.08152026683092117, 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": [-0.02144804410636425, -0.7274750471115112, -0.0329337902367115, -2.705679178237915, -0.011426360346376896, 1.9514002799987793, -0.06555503606796265, 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": [-0.013817871920764446, -0.7475955486297607, -0.02078474871814251, -2.724902868270874, -0.009051491506397724, 1.9526519775390625, -0.04769502952694893, 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": [-0.0066454485058784485, -0.766279935836792, -0.009119302965700626, -2.7431886196136475, -0.007170903962105513, 1.953570008277893, -0.030960872769355774, 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": [-9.394054359290749e-05, -0.7814309000968933, 0.0008680009632371366, -2.758582830429077, -0.0053860461339354515, 1.9541124105453491, -0.0182912927120924, 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": [-8.036875078687444e-05, -0.7808423042297363, 0.0005315853632055223, -2.758019208908081, -0.005018106196075678, 1.9544438123703003, -0.018252218142151833, 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": [-8.672491094330326e-05, -0.7806704640388489, 0.0005143739399500191, -2.7580182552337646, -0.0049058529548347, 1.954511284828186, -0.018235711380839348, 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": [-8.569784404244274e-05, -0.7806564569473267, 0.0005094331572763622, -2.7580151557922363, -0.004854065831750631, 1.9545464515686035, -0.018234292045235634, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000005/meta.json b/rc-table30-v1__rc-franka/000005/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d3b443f02ce929f1606ab278e1a5294cc210420
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000005/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 65,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000005/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000005/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..30a9236aef797df807df220242a1da83f850d84b
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000005/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279834143 -0.00499735926309 0.155440698399" quat="-0.192610301401 -0.653136802927 0.705244245085 0.19734270504" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000005/temporal.json b/rc-table30-v1__rc-franka/000005/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..117e400f4fa83081922600fbafc3361832ee0459
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000005/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.00037289372994564474, -0.7807658910751343, 0.0003647867706604302, -2.7583024501800537, -0.005748440977185965, 1.9550055265426636, -0.01955869421362877, 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": [-0.0003707628638949245, -0.7807636260986328, 0.00036355448537506163, -2.7582991123199463, -0.0057484423741698265, 1.9550050497055054, -0.01955532841384411, 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": [-0.00037166240508668125, -0.7807638645172119, 0.00036537664709612727, -2.7583019733428955, -0.005749423522502184, 1.9550045728683472, -0.019555697217583656, 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": [-0.0003716624341905117, -0.780771791934967, 0.0003648209385573864, -2.7583038806915283, -0.005749305244535208, 1.9550045728683472, -0.019555697217583656, 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": [-0.0003816919925156981, -0.7801751494407654, 0.0003588554682210088, -2.7583911418914795, -0.005782790016382933, 1.9519517421722412, -0.019655410200357437, 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": [-0.0007201069965958595, -0.7251977920532227, -0.0009429033380001783, -2.7141976356506348, -0.0059223598800599575, 1.9596002101898193, -0.020101455971598625, 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": 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[-0.08303456753492355, -0.6339390277862549, -0.1485387533903122, -2.6164419651031494, -0.05942731723189354, 1.948649287223816, -0.23001189529895782, 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": [-0.07592270523309708, -0.646454393863678, -0.13549159467220306, -2.62857985496521, -0.05489872023463249, 1.9490537643432617, -0.21196283400058746, 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": [-0.06912479549646378, -0.6591298580169678, -0.12279173731803894, -2.640681266784668, -0.05070449039340019, 1.9495798349380493, -0.1939869225025177, 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": [-0.06189660727977753, -0.6714051961898804, -0.10999981313943863, -2.6525964736938477, -0.04608532786369324, 1.9500750303268433, -0.17605188488960266, 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": [-0.054851263761520386, -0.6841986179351807, -0.09700193256139755, -2.6649246215820312, -0.04082304984331131, 1.9506088495254517, -0.1576717644929886, 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": [-0.04770810529589653, -0.6969591975212097, -0.0840485468506813, -2.677213668823242, -0.03677608072757721, 1.9512583017349243, -0.13997671008110046, 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": [-0.04067490994930267, -0.7097064256668091, -0.07138081640005112, -2.689269542694092, -0.03264303877949715, 1.9517720937728882, -0.12190170586109161, 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": [-0.03360338509082794, -0.7222714424133301, -0.058431100100278854, -2.701347827911377, -0.027831342071294785, 1.9523879289627075, -0.10367617011070251, 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": [-0.026513393968343735, -0.7348979711532593, -0.045576319098472595, -2.713679790496826, -0.02201622910797596, 1.9528536796569824, -0.08517199754714966, 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": [-0.01954149454832077, -0.7476806640625, -0.03266333416104317, -2.7257485389709473, -0.01718909852206707, 1.9534462690353394, -0.06624095141887665, 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": [-0.012380187399685383, -0.7602216005325317, -0.019995003938674927, -2.737788200378418, -0.012834137305617332, 1.9539085626602173, -0.04763438180088997, 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": [-0.005288298707455397, -0.7728769183158875, -0.007126932498067617, -2.7498857975006104, -0.008106289431452751, 1.9543538093566895, -0.029434945434331894, 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": [3.176732934662141e-05, -0.7808583378791809, 0.0014138099504634738, -2.7573659420013428, -0.005688745062798262, 1.9545420408248901, -0.019563546404242516, 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": [-0.00010381137690274045, -0.7805171012878418, 0.0005952039500698447, -2.757251262664795, -0.005568963475525379, 1.954654574394226, -0.019539661705493927, 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": [-0.00010486791870789602, -0.7804814577102661, 0.0005856131319887936, -2.7572455406188965, -0.005538499914109707, 1.954712152481079, -0.019530827179551125, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000006/meta.json b/rc-table30-v1__rc-franka/000006/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f60db4ec46ee48c9366e704ba8c36cc2f8fea406
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000006/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 546,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000006/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000006/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..edef7b82efad390660f2c59651272f14170c7dbd
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000006/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279859983 -0.00499735864371 0.155440684332" quat="-0.192610312674 -0.653136795259 0.705244246389 0.197342714751" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000006/temporal.json b/rc-table30-v1__rc-franka/000006/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..7580c08e2e9120fd3d2b941d31c80923c844d7cf
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000006/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.00010792820830829442, -0.7806196808815002, 0.00021828025637660176, -2.7569172382354736, -0.0051780701614916325, 1.9616413116455078, -0.015858475118875504, 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": [0.0001116125495173037, -0.7806214094161987, 0.00021849099721293896, -2.756922483444214, -0.005181309767067432, 1.9616451263427734, -0.015858957543969154, 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": [0.00010719513375079259, -0.7806215286254883, 0.0002185295452363789, -2.756916046142578, -0.005181159358471632, 1.9616453647613525, -0.015859311446547508, 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": 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0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0003687698335852474, -0.7811224460601807, 0.00034209954901598394, -2.758258581161499, 0.005067165940999985, 1.9600392580032349, -0.01755453832447529, 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": [0.0003569875261746347, -0.7809137105941772, 0.00032770264078862965, -2.7582356929779053, 0.00501695740967989, 1.960037350654602, -0.017496703192591667, 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": [0.0003603958757594228, -0.7809163928031921, 0.00032201208523474634, -2.7582340240478516, 0.004987736232578754, 1.9600410461425781, -0.017470665276050568, 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": [0.0003575433511286974, -0.7809176445007324, 0.0003255128103774041, -2.7582244873046875, 0.00497337244451046, 1.960037350654602, -0.017447123304009438, 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": [0.0003588121326174587, -0.7809176445007324, 0.0003254191833548248, -2.7582314014434814, 0.0049627297557890415, 1.9600411653518677, -0.01743832230567932, 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": [0.0003574643924366683, -0.7809152007102966, 0.0003242327074985951, -2.758225440979004, 0.004953300580382347, 1.960042119026184, -0.017432646825909615, 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": [0.0003572146815713495, -0.7809151411056519, 0.00032324137282557786, -2.7582266330718994, 0.004948405548930168, 1.960042119026184, -0.017409324645996094, 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": [0.00035595937515608966, -0.7809178829193115, 0.00032087290310300887, -2.7582242488861084, 0.004942512139678001, 1.9600415229797363, -0.017414670437574387, 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": [0.00035695169935934246, -0.7809193730354309, 0.00032355813891626894, -2.758223295211792, 0.004938342608511448, 1.960042119026184, -0.01740529015660286, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000007/meta.json b/rc-table30-v1__rc-franka/000007/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf3084c64d7619cf27146b48f5d9f824aaa0701c
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000007/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 999,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000007/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000007/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d055e963089fe7ab1e4ae3cda317a132beff348f
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000007/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405614313 0.000224430958083 0.176650122188" quat="-0.189077812247 -0.661456801399 0.706997285401 0.16394913612" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000007/temporal.json b/rc-table30-v1__rc-franka/000007/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..6db729d1daa2243702618d24e1ceecd0d5cdcb22
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000007/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-franka/000008/meta.json b/rc-table30-v1__rc-franka/000008/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49d51346701576d5f8c16ed849e1217fdc464bc2
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000008/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 217,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000008/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000008/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2e6a7e95d972fce88db14d8e08b16f9d96f2cce5
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000008/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.087027992134 -0.0049973584354 0.155440678411" quat="-0.192610297554 -0.653136798707 0.705244246829 0.197342716523" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000008/temporal.json b/rc-table30-v1__rc-franka/000008/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..190b1cc6517d2f4d20fcfcfc0c55aea9f34a682c
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000008/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [9.233169112121686e-05, -0.7807014584541321, 0.00030118750873953104, -2.7584187984466553, 0.0050408863462507725, 1.955407738685608, -0.017575524747371674, 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": [9.390297054778785e-05, -0.7806999683380127, 0.0003024177858605981, -2.7584242820739746, 0.005040381103754044, 1.9554076194763184, -0.01757734827697277, 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": [9.396966197527945e-05, -0.7807005047798157, 0.0002971174835693091, -2.75842547416687, 0.005040362011641264, 1.9554082155227661, -0.01757698692381382, 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": [9.522499021841213e-05, -0.7807044982910156, 0.00029914084007032216, -2.758425712585449, 0.00503992335870862, 1.9554076194763184, -0.01757274754345417, 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": [9.000769205158576e-05, -0.7807007431983948, 0.0003034692781511694, -2.7584192752838135, 0.005036602262407541, 1.9554132223129272, -0.017580784857273102, 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": [9.357564704259858e-05, -0.7806892991065979, 0.0002995231479872018, -2.758434772491455, 0.005046449601650238, 1.9553879499435425, -0.017588796094059944, 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": [-0.00095430260989815, 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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": [-0.02829715795814991, -0.6964117884635925, -0.02915535680949688, -2.677860975265503, 0.011301589198410511, 1.9533028602600098, -0.051545944064855576, 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": [-0.018941760063171387, -0.726051390171051, -0.018945539370179176, -2.705981969833374, 0.009020050056278706, 1.9539262056350708, -0.04013524949550629, 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": [-0.00920819491147995, -0.7557677030563354, -0.008847661316394806, -2.7341673374176025, 0.006451369263231754, 1.9544597864151, -0.02848631888628006, 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": [-0.00010948268027277663, -0.7828227281570435, 0.0005083234282210469, -2.760051965713501, 0.004705107770860195, 1.9545987844467163, -0.018726909533143044, 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": [1.550668639538344e-05, -0.7815677523612976, 0.0006685107946395874, -2.7586147785186768, 0.0044860015623271465, 1.955188512802124, -0.01859908737242222, 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": [-3.350454062456265e-05, -0.7809678316116333, 0.000587895221542567, -2.7585864067077637, 0.004427849315106869, 1.955237865447998, -0.018559526652097702, 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": [-3.898477370967157e-05, -0.7809661030769348, 0.0005815046606585383, -2.7585833072662354, 0.004399069584906101, 1.9552595615386963, -0.01854000985622406, 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": [-3.7759898987133056e-05, -0.7809648513793945, 0.0005773341981694102, -2.758579969406128, 0.004376698285341263, 1.9552792310714722, -0.01853230595588684, 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": [-3.7836729461560026e-05, -0.7809645533561707, 0.0005828990251757205, -2.758577823638916, 0.0043650600127875805, 1.9552884101867676, -0.018524616956710815, 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": [-4.091642040293664e-05, -0.7809653282165527, 0.0005807675770483911, -2.7585763931274414, 0.0043607172556221485, 1.9553017616271973, -0.018516026437282562, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000009/meta.json b/rc-table30-v1__rc-franka/000009/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ca79d5063eb702ec2ecdba47dc858af83395b1c
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000009/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1332,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000009/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000009/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6ef2589efa19cf8cf21c1250272acc53739e12a5
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000009/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405619089 0.000224431612136 0.176650132936" quat="-0.189077806185 -0.661456800032 0.70699728906 0.163949132847" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000009/temporal.json b/rc-table30-v1__rc-franka/000009/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e574b6911d044c94335f7ec1cc01632d00ddc2
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000009/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.0018865468446165323, -0.7841906547546387, 0.000830259348731488, -2.7536747455596924, -0.0037135134916752577, 1.9634212255477905, 0.016956673935055733, 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": [-0.0018878108821809292, -0.7841830253601074, 0.0008293329156003892, -2.7536721229553223, -0.0037138524930924177, 1.9634226560592651, 0.016958579421043396, 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": [-0.0018890313804149628, -0.7841742634773254, 0.0008280334295704961, -2.753662586212158, -0.003713852958753705, 1.9634177684783936, 0.016957581043243408, 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": 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0.0, 0.0, 1.0]]}, {"state": [-0.0012686128029599786, -0.7841107845306396, -0.001656013890169561, -2.7524139881134033, -0.003509078174829483, 1.9645618200302124, -0.0017078608507290483, 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": [-0.001271926797926426, -0.7841062545776367, -0.001659946865402162, -2.752443552017212, -0.003507398534566164, 1.9645622968673706, -0.0017001816304400563, 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": [-0.0012738930527120829, -0.7841005921363831, -0.0016631464241072536, -2.7524683475494385, -0.0035123934503644705, 1.9645628929138184, -0.001703609130345285, 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": [-0.0012707356363534927, -0.7841076254844666, -0.0016689160838723183, -2.7524912357330322, -0.0035077990032732487, 1.9645628929138184, -0.00170678342692554, 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": [-0.0012769247405231, -0.7840926051139832, -0.0016660216497257352, -2.7525148391723633, -0.003511556424200535, 1.9645633697509766, -0.0017024892149493098, 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": [-0.0012821985874325037, -0.7840923070907593, -0.0016673121135681868, -2.7525289058685303, -0.0035116022918373346, 1.964564323425293, -0.0017025383422151208, 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": [-0.0012790855253115296, -0.784092128276825, -0.00166922842618078, -2.752533197402954, -0.003511203220114112, 1.9645637273788452, -0.0016991222510114312, 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": [-0.0012790593318641186, -0.7840925455093384, -0.0016695254016667604, -2.752549886703491, -0.0035116022918373346, 1.964561939239502, -0.0016996054910123348, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000010/meta.json b/rc-table30-v1__rc-franka/000010/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2f798eb276aa0b580495abe033341410ae98726
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000010/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 850,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000010/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000010/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a0410d0fe0b416c7b1997029b744fbdb7225d0bf
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000010/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.071740556327 0.000224431807128 0.176650136614" quat="-0.189077800355 -0.661456804052 0.706997287272 0.163949131064" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000010/temporal.json b/rc-table30-v1__rc-franka/000010/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..94175988edb9f7e141e9f8a7abb2d03211937412
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000010/temporal.json
@@ -0,0 +1 @@
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1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0011032981565222144, -0.7846193313598633, -0.0016868283273652196, -2.7514805793762207, -0.003429716220125556, 1.9638313055038452, -0.013652131892740726, 0.6689427319914103, 0.0, 0.6689427319914103, -0.6448607936397195, 0.6689427319914103, 0.0, 0.6689427319914103, -0.6448607936397195], "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": [-0.001107127289287746, -0.784620463848114, -0.0016834362177178264, -2.7514822483062744, -0.0033916898537427187, 1.9638302326202393, -0.013414786197245121, 0.5453744523227215, 0.0, 0.5453744523227215, -0.5257409720391035, 0.5453744523227215, 0.0, 0.5453744523227215, -0.5257409720391035], "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": [-0.0011068000458180904, -0.7846226096153259, -0.0016783555038273335, -2.7514820098876953, -0.0033746100962162018, 1.963828444480896, -0.01322301384061575, 0.3768722519278527, 0.0, 0.3768722519278527, -0.36330485085845, 0.3768722519278527, 0.0, 0.3768722519278527, -0.36330485085845], "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": [-0.001129687880165875, -0.7846278548240662, -0.0017214789986610413, -2.7516050338745117, -0.003388103796169162, 1.9638495445251465, -0.013228479772806168, 0.24955948740243913, 0.0, 0.24955948740243913, -0.2405753458559513, 0.24955948740243913, 0.0, 0.24955948740243913, -0.2405753458559513], "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": [-0.0011694517452269793, -0.7842827439308167, -0.0018897277768701315, -2.752939462661743, -0.003437257371842861, 1.963841438293457, -0.0137978196144104, 0.1259911984205246, 0.0, 0.1259911984205246, -0.12145551527738573, 0.1259911984205246, 0.0, 0.1259911984205246, -0.12145551527738573], "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": [-0.0011948705650866032, -0.784207284450531, -0.0019187256693840027, -2.753028154373169, -0.003445842070505023, 1.9638419151306152, -0.013846253976225853, 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": [-0.0011990816565230489, -0.784201443195343, -0.001927490928210318, -2.753030300140381, -0.0034465892240405083, 1.9638285636901855, -0.01385585032403469, 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": [-0.0012022036826238036, -0.7842073440551758, -0.0019317538244649768, -2.753058671951294, -0.003444511676207185, 1.9638296365737915, -0.013855447992682457, 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": [-0.0012007866753265262, -0.7842031717300415, -0.0019392872927710414, -2.7530837059020996, -0.0034463885240256786, 1.9638315439224243, -0.013853057287633419, 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": [-0.0012001915602013469, -0.7842079997062683, -0.0019470338011160493, -2.753106117248535, -0.0034479282330721617, 1.9638265371322632, -0.013849898241460323, 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": [-0.001204739441163838, -0.7842049598693848, -0.001946001430042088, -2.7531323432922363, -0.003448842791840434, 1.963826060295105, -0.013853810727596283, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000011/meta.json b/rc-table30-v1__rc-franka/000011/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ecfd635f90ff069fd7aab2c2d476e9f36032fc8
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000011/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1118,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000011/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000011/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f83313273cda7697b488d79178515d1e88126d2d
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000011/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.071740578184 0.000224433451297 0.176650135048" quat="-0.189077807332 -0.661456794715 0.70699729247 0.163949138271" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000011/temporal.json b/rc-table30-v1__rc-franka/000011/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..950924542896c801063e00ca4d82711c7c27fbfb
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000011/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.0007310907822102308, -0.7841262221336365, -0.001082026050426066, -2.753544807434082, 0.002680449280887842, 1.9633082151412964, -0.014584898948669434, 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": [-0.0007270562346093357, -0.7841311693191528, -0.0010820155730471015, -2.7535440921783447, 0.002680462319403887, 1.96330988407135, -0.014583687297999859, 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": [-0.000726191618014127, -0.784129798412323, -0.0010827332735061646, -2.7535479068756104, 0.002682080492377281, 1.9633092880249023, -0.01458656694740057, 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": 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0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0018366562435403466, -0.7840141654014587, 0.0008874677587300539, -2.7530295848846436, 0.0025603279937058687, 1.9640532732009888, -0.008715735748410225, 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": [-0.0018361489055678248, -0.784010648727417, 0.0008924226858653128, -2.753040313720703, 0.00255666789598763, 1.9640499353408813, -0.00871612224727869, 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": [-0.001834421418607235, -0.7840109467506409, 0.0008931445772759616, -2.753073215484619, 0.0025580700021237135, 1.9640469551086426, -0.008716636337339878, 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": [-0.001839866628870368, -0.7840112447738647, 0.0008909927564673126, -2.753098964691162, 0.002558212960138917, 1.9640460014343262, -0.008717656135559082, 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": [-0.0018428574549034238, -0.7840122580528259, 0.0008906858856789768, -2.7531278133392334, 0.0025576185435056686, 1.9640485048294067, -0.00871710292994976, 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": [-0.0018436581594869494, -0.7840138673782349, 0.0008934601792134345, -2.7531425952911377, 0.0025575878098607063, 1.9640494585037231, -0.008715655654668808, 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": [-0.001843977952376008, -0.7840095162391663, 0.0008934615179896355, -2.753154993057251, 0.0025587077252566814, 1.9640504121780396, -0.008715650998055935, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000012/meta.json b/rc-table30-v1__rc-franka/000012/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a2b869c734f46c438a865c1ccac2a522f760e08
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000012/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 236,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000012/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000012/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1ec4496aa9d31fc282a004bff2b0097c8b70d795
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000012/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279831116 -0.00499736068785 0.155440685571" quat="-0.192610313671 -0.653136799559 0.705244242722 0.197342712654" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000012/temporal.json b/rc-table30-v1__rc-franka/000012/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..112c8d99cde258fa24050d8eef1f4d82202c9f8b
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000012/temporal.json
@@ -0,0 +1 @@
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-0.15348772704601288, 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": [-0.040798477828502655, -0.6735048890113831, -0.08727050572633743, -2.6745190620422363, -0.031157083809375763, 1.979406714439392, -0.1354636698961258, 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": [-0.03460247814655304, -0.6904074549674988, -0.07361454516649246, -2.6873652935028076, -0.02685067616403103, 1.97734797000885, -0.11773623526096344, 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": [-0.028417283669114113, -0.7070406079292297, -0.05989190936088562, -2.700317621231079, -0.021957706660032272, 1.9748642444610596, -0.09977516531944275, 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": [-0.022397683933377266, -0.7235386371612549, -0.04623967036604881, -2.7129552364349365, -0.018191104754805565, 1.9725165367126465, -0.08141906559467316, 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": [-0.016369322314858437, -0.7403469681739807, -0.03258274123072624, -2.72590970993042, -0.014702937565743923, 1.9700247049331665, -0.06328257918357849, 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": [-0.009956183843314648, -0.7569948434829712, -0.018840350210666656, -2.738924026489258, -0.010918134823441505, 1.966835379600525, -0.04503615200519562, 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": [-0.0037854795809835196, -0.7738178372383118, -0.0052039045840501785, -2.7516777515411377, -0.007247042376548052, 1.9639662504196167, -0.026654783636331558, 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": [5.842668997502187e-06, -0.7815840244293213, 0.001284120255149901, -2.7570927143096924, -0.005594624672085047, 1.9615517854690552, -0.019681937992572784, 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": [-0.00010486849350854754, -0.7806962132453918, 0.0006178877083584666, -2.757120370864868, -0.0054707517847418785, 1.9615421295166016, -0.019619030877947807, 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": [-0.00010734107490861788, -0.7806692123413086, 0.0006035572732798755, -2.7571191787719727, -0.005414912011474371, 1.9615377187728882, -0.019601130858063698, 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": [-0.00010495704191271216, -0.7806702852249146, 0.0006009614444337785, -2.7571194171905518, -0.005377592518925667, 1.9615377187728882, -0.01959404908120632, 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": [-0.00010495704191271216, -0.7806642055511475, 0.0005951917264610529, -2.7571194171905518, -0.0053564636036753654, 1.961535930633545, -0.019588598981499672, 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": [-0.00010525864490773529, -0.7806663513183594, 0.0005921187112107873, -2.757117986679077, -0.005337029695510864, 1.9615349769592285, -0.019577469676733017, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000013/meta.json b/rc-table30-v1__rc-franka/000013/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad6001f485997c14d67d0da7d6203b28a4f9ffee
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000013/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1136,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000013/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000013/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2b9f03ecc832343e2788857c69f86d5cbcb3a5b2
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000013/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405858957 0.000224432278672 0.176650136032" quat="-0.189077804038 -0.66145679714 0.706997291805 0.163949135155" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000013/temporal.json b/rc-table30-v1__rc-franka/000013/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..65876206b1eba94e606beecd0a54b48421400840
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000013/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.0018973893020302057, -0.7840809226036072, 0.0007397455046884716, -2.7532122135162354, 0.0032148477621376514, 1.9641976356506348, 0.015951741486787796, 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": [-0.0018961220048367977, -0.7840830087661743, 0.0007420548936352134, -2.7532052993774414, 0.0032143229618668556, 1.9641979932785034, 0.015946516767144203, 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": [-0.0018973883707076311, -0.7840807437896729, 0.0007384898490272462, -2.753209352493286, 0.0032182286959141493, 1.9642008543014526, 0.01594521850347519, 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": 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diff --git a/rc-table30-v1__rc-franka/000014/meta.json b/rc-table30-v1__rc-franka/000014/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1355393a88c5d0a2bf07c12107606d7630f00304
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000014/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1056,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000014/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000014/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9d329e94c80ca82e9464e1339e98a962524f8d95
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000014/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405655448 0.000224433043272 0.176650146979" quat="-0.189077799587 -0.661456802091 0.706997289412 0.163949130633" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000014/temporal.json b/rc-table30-v1__rc-franka/000014/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..b01f8cad260209dfac4f3b7f57c0c6f4fc3fd7a5
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000014/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.0007846200605854392, -0.7839810848236084, -0.00127603264991194, -2.7532436847686768, -0.003675060346722603, 1.9640357494354248, -0.014315505512058735, 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": [-0.0007846240187063813, -0.7839824557304382, -0.0012749204179272056, -2.7532451152801514, -0.003674587933346629, 1.9640337228775024, -0.014313248917460442, 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": [-0.0007799147861078382, -0.7839878797531128, -0.0012780034448951483, -2.7532477378845215, -0.0036755031906068325, 1.9640388488769531, -0.014314164407551289, 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": [-0.0007844557985663414, -0.7839778065681458, -0.0012755838688462973, -2.7532541751861572, -0.0036755232140421867, 1.964037537574768, -0.014310869388282299, 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": [-0.0007855241419747472, -0.7839804887771606, -0.001279444550164044, -2.7532382011413574, -0.0036764841061085463, 1.9640388488769531, -0.014314984902739525, 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": [-0.0007795626297593117, -0.7839853763580322, -0.0012760311365127563, -2.75323486328125, -0.0036764841061085463, 1.9640353918075562, -0.014316683635115623, 0.08480178117752075, 0.0, 0.08480178117752075, -0.08174891705513, 0.08480178117752075, 0.0, 0.08480178117752075, -0.08174891705513], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], 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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": [0.0004658557882066816, -0.7841512560844421, 0.0006289376760832965, -2.7539992332458496, -0.0018099060980603099, 1.9629530906677246, 0.01712143048644066, 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": [0.00046729156747460365, -0.7841525077819824, 0.0006266633281484246, -2.7540011405944824, -0.001810359419323504, 1.9629554748535156, 0.017124949023127556, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000015/meta.json b/rc-table30-v1__rc-franka/000015/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90ad70ae624f38ff2623d0f35146a3a0a86616b9
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000015/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 81,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000015/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000015/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..58fec4d261613b47ebbf042a066c86b5575c3668
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000015/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279611559 -0.00499736225378 0.155440675421" quat="-0.192610303541 -0.653136798229 0.705244245575 0.197342716745" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000015/temporal.json b/rc-table30-v1__rc-franka/000015/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ba669ec61eeb9ad5926878b8ae35c22c15d9e28
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000015/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-franka/000016/meta.json b/rc-table30-v1__rc-franka/000016/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..772ae574dc8bdec1706c08df0463b64f6a6dd55b
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000016/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1166,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000016/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000016/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e3939bdc2cf8092908daf5f49c57ad5a67b7bb43
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000016/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405770293 0.000224431213859 0.176650128397" quat="-0.189077804228 -0.661456796544 0.706997293498 0.16394913004" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000016/temporal.json b/rc-table30-v1__rc-franka/000016/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5e3fec8d4009700cc2367ecae055c866fe2115b
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000016/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0005089846672490239, -0.7841871380805969, 0.00028348073828965425, -2.7539806365966797, -0.0033076012041419744, 1.9630951881408691, 0.017271863296628, 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": [0.0005079463007859886, -0.7841871976852417, 0.00028583756648004055, -2.75398325920105, -0.003304852405562997, 1.9630930423736572, 0.017264794558286667, 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": [0.0005041902768425643, -0.7841867804527283, 0.00028031523106619716, -2.753981351852417, -0.003309126477688551, 1.963097333908081, 0.017261669039726257, 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": [0.0005043442361056805, -0.7841850519180298, 0.0002820180088747293, -2.7539687156677246, -0.003309725085273385, 1.9630976915359497, 0.017263343557715416, 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": [0.0005121722351759672, -0.7841934561729431, 0.0002847134310286492, -2.7539563179016113, -0.0033054708037525415, 1.9630990028381348, 0.017262987792491913, 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": [0.0005146309267729521, -0.7841899394989014, 0.000282859691651538, -2.753972291946411, -0.0033097420819103718, 1.9630916118621826, 0.01726621575653553, 0.036123338341712954, 0.0, 0.036123338341712954, -0.034822898161411285, 0.036123338341712954, 0.0, 0.036123338341712954, -0.034822898161411285], "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": [0.0005020699463784695, -0.7841892242431641, 0.00028594571631401777, -2.753974437713623, -0.003308928571641445, 1.9630924463272095, 0.017265239730477333, 0.17841407954692842, 0.0, 0.17841407954692842, -0.171991172683239, 0.17841407954692842, 0.0, 0.17841407954692842, -0.171991172683239], "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": [0.0004993861657567322, -0.7842175960540771, 0.00027590064564719796, -2.753957748413086, -0.0033088279888033867, 1.9630995988845825, 0.017266303300857544, 0.3169603452086449, 0.0, 0.3169603452086449, -0.3055497727811337, 0.3169603452086449, 0.0, 0.3169603452086449, -0.3055497727811337], "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": [0.0005079256952740252, -0.7841994166374207, 0.0002846169809345156, -2.753974676132202, 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-0.015039967373013496, 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": [-0.0007676903624087572, -0.7841895222663879, -0.000697695417329669, -2.7536141872406006, 0.003060507122427225, 1.963451623916626, -0.0150409284979105, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000017/meta.json b/rc-table30-v1__rc-franka/000017/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb9d4afabffb7f1554e490541ea5cca3b19d6ccd
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000017/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 851,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000017/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000017/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4167694ec1a5a8444774b27f010e3c9cdae54b31
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000017/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405819072 0.000224431496733 0.176650136703" quat="-0.189077811304 -0.661456797711 0.706997289811 0.163949133072" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000017/temporal.json b/rc-table30-v1__rc-franka/000017/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..9de7fb1a4be78e76853a1baf51281e40a027b8ec
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000017/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-franka/000018/meta.json b/rc-table30-v1__rc-franka/000018/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7462b878a31021b4b1bdb3d9b9a1d89bccdd445
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000018/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 466,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000018/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000018/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..549244a437794ad6795414d131bc826aed6f7d45
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000018/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279763825 -0.00499736102116 0.15544067263" quat="-0.192610300577 -0.65313680443 0.705244238057 0.197342725982" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000018/temporal.json b/rc-table30-v1__rc-franka/000018/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7cb0d993b601d5e1fb6acb472948f450e426a72
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000018/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-3.3013107895385474e-05, -0.7808385491371155, 0.0004138443910051137, -2.7576656341552734, -0.0015206929529085755, 1.960888147354126, -0.017198294401168823, 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": [-3.547375672496855e-05, -0.7808359861373901, 0.00041376068838872015, -2.757666826248169, -0.001520850695669651, 1.9608886241912842, -0.017198218032717705, 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": [-3.301505421404727e-05, -0.7808395624160767, 0.0004128877480980009, -2.7576653957366943, -0.0015245565446093678, 1.9608913660049438, -0.017199130728840828, 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]]}, 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diff --git a/rc-table30-v1__rc-franka/000019/meta.json b/rc-table30-v1__rc-franka/000019/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..232a0e2c04d15687d0c695f0b71eb0aae0cf1dee
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000019/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 366,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000019/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000019/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..42bbefbeb36eae105cc9d1b38428cca632934465
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000019/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.087028003029 -0.00499735834235 0.155440690478" quat="-0.192610311563 -0.653136800024 0.705244241652 0.197342716993" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000019/temporal.json b/rc-table30-v1__rc-franka/000019/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..87fa83c7de4aa00030b2296ee24a157d3a1e278a
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000019/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.0004924078821204603, -0.7808684706687927, 0.00034757843241095543, -2.7582778930664062, -0.0052031041122972965, 1.9550737142562866, -0.017694754526019096, 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": [-0.000497847271617502, -0.7808666229248047, 0.0003510908572934568, -2.7582740783691406, -0.005205844063311815, 1.9550763368606567, -0.01769476942718029, 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": [-0.0004955906188115478, -0.7808683514595032, 0.00034757843241095543, -2.7582755088806152, -0.00520792230963707, 1.9550774097442627, -0.01769428700208664, 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": [-0.0004987455322407186, -0.78086918592453, 0.00034880777820944786, -2.758273124694824, -0.005205327179282904, 1.9550769329071045, -0.017693933099508286, 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": [-0.0004966179258190095, -0.7808685302734375, 0.00035093800397589803, -2.7582712173461914, -0.005203121341764927, 1.955072283744812, -0.017695004120469093, 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": [-0.0004987367428839207, -0.7808703780174255, 0.0003523202030919492, -2.7582709789276123, -0.005205177236348391, 1.9550726413726807, -0.017693297937512398, 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": [-0.0004957151249982417, 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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": [-0.049024585634469986, -0.5433754324913025, -0.1369757205247879, -2.5296483039855957, -0.04603823646903038, 1.9528354406356812, -0.5029540061950684, 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": [-0.04502742365002632, -0.5638936161994934, -0.1255352795124054, -2.549018621444702, -0.04199923202395439, 1.9529848098754883, -0.46184542775154114, 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": [-0.04076213389635086, -0.584044873714447, -0.11385051161050797, -2.568521738052368, -0.03918763995170593, 1.9531670808792114, -0.42061319947242737, 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": [-0.036622703075408936, -0.6041034460067749, -0.10206403583288193, -2.5878725051879883, -0.03627277910709381, 1.953317403793335, -0.3786678612232208, 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": [-0.03270607069134712, -0.623936653137207, -0.09048797935247421, -2.60709547996521, -0.03344132378697395, 1.953514814376831, -0.3378162682056427, 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": [-0.028626563027501106, -0.6442002058029175, -0.07898959517478943, -2.6263375282287598, -0.03029310517013073, 1.953719973564148, -0.296455979347229, 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": [-0.02457822859287262, -0.665009617805481, -0.06697966158390045, -2.6462693214416504, -0.026333462446928024, 1.953930139541626, -0.2540864944458008, 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": [-0.020610321313142776, -0.6849325299263, -0.05521043390035629, -2.6656270027160645, -0.021730899810791016, 1.9540876150131226, -0.21252378821372986, 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": [-0.01665864698588848, -0.7050155997276306, -0.043435655534267426, -2.685319423675537, -0.01841128058731556, 1.9543135166168213, -0.1713487058877945, 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": [-0.012374740093946457, -0.7254437208175659, -0.03172551468014717, -2.7046074867248535, -0.015213476493954659, 1.9545071125030518, -0.12949238717556, 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": [-0.008535291068255901, -0.7450735569000244, -0.02075992524623871, -2.7233548164367676, -0.012200158089399338, 1.9547754526138306, -0.0892081931233406, 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": [-0.0042515103705227375, -0.7658601999282837, -0.008782705292105675, -2.7431485652923584, -0.008519248105585575, 1.9549970626831055, -0.04577481374144554, 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": [-0.00030895258532837033, -0.7821336388587952, 0.0007189489551819861, -2.75905442237854, -0.006261785980314016, 1.9550366401672363, -0.015412158332765102, 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": [-0.00019454544235486537, -0.7810315489768982, 0.0003536568838171661, -2.758136749267578, -0.006040998734533787, 1.9553419351577759, -0.015408040024340153, 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": [-0.00019681334379129112, -0.7808542251586914, 0.0003340586263220757, -2.758126974105835, -0.00597098795697093, 1.9553664922714233, -0.015402776189148426, 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": [-0.00019680937111843377, -0.7808465957641602, 0.0003276665520388633, -2.758129596710205, -0.005921466741710901, 1.9553831815719604, -0.015404566191136837, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000020/meta.json b/rc-table30-v1__rc-franka/000020/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae441b7b79e002af1d24ab43be801fe537f6e701
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000020/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 63,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000020/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000020/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..da586d13ed2f12092ddc10333e3d3d9c16b946fd
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000020/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279818695 -0.00499736053725 0.155440669829" quat="-0.192610304066 -0.653136795641 0.705244245722 0.197342724272" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000020/temporal.json b/rc-table30-v1__rc-franka/000020/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..d641d101407b67ddced27c07387d943c77fc6cb6
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000020/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0007430653786286712, -0.780693531036377, 0.0007093416643328965, -2.7561497688293457, -0.004479155410081148, 1.9617016315460205, 0.014380600303411484, 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": [0.0007453474681824446, -0.7806925177574158, 0.0007126980926841497, -2.756147861480713, -0.004477276932448149, 1.9616992473602295, 0.014381935819983482, 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": [0.0007453474681824446, -0.7806925177574158, 0.0007126980926841497, -2.756147861480713, -0.004477276932448149, 1.9616992473602295, 0.014381935819983482, 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": [0.0007460572523996234, -0.7806922197341919, 0.0007120775990188122, -2.7561497688293457, -0.004478697199374437, 1.961701512336731, 0.01438299659639597, 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": [0.000744482793379575, -0.7806961536407471, 0.0007079089991748333, -2.75614595413208, -0.0044796047732234, 1.961702585220337, 0.014380902983248234, 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": [0.0007479977211914957, -0.7806957364082336, 0.0007097935304045677, -2.7561452388763428, -0.004479154944419861, 1.961701512336731, 0.01438361220061779, 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": [0.0007416450534947217, 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0.0007175562786869705, -2.756018877029419, -0.0044893380254507065, 1.961064100265503, 0.014403467066586018, 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": [0.0021646455861628056, -0.73386150598526, 0.0029585694428533316, -2.719625473022461, -0.004477319307625294, 1.9602335691452026, 0.01503728050738573, 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": [0.003721287939697504, -0.6531172394752502, 0.005528450943529606, -2.6654677391052246, -0.004319151863455772, 1.9752750396728516, 0.015453667379915714, 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": [0.004293118137866259, -0.5784792304039001, 0.006698885932564735, 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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": [-0.006834879983216524, -0.7476595044136047, -0.021813293918967247, -2.730030059814453, -0.009284848347306252, 1.9666268825531006, -0.04542214423418045, 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": [-0.003435754682868719, -0.7673163414001465, -0.008828319609165192, -2.7461185455322266, -0.007353527471423149, 1.9643882513046265, -0.030311381444334984, 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": [-0.00017338144243694842, -0.7822041511535645, 0.0011200308799743652, -2.758016347885132, -0.005899960640817881, 1.961235523223877, -0.020334240049123764, 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": [-0.00012420731945894659, -0.7809482216835022, 0.0005174753605388105, -2.7575268745422363, -0.005613315384835005, 1.9611369371414185, -0.02026771940290928, 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": [-0.00012618255277629942, -0.7807334661483765, 0.0004973607137799263, -2.757512331008911, -0.005511820781975985, 1.961136817932129, -0.020239759236574173, 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": [-0.00012495597184170038, -0.780728280544281, 0.0004801529285032302, -2.7575161457061768, -0.005457283928990364, 1.961136817932129, -0.020225748419761658, 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": [-0.0001272390509257093, -0.7807281613349915, 0.00047376914881169796, -2.757516384124756, -0.005422207061201334, 1.9611369371414185, -0.020220888778567314, 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": [-0.00012960676394868642, -0.7807270884513855, 0.0004715797258540988, -2.7575159072875977, -0.0053980848751962185, 1.961133599281311, -0.0202109944075346, 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": [-0.00012858337140642107, -0.7807236313819885, 0.00047179494868032634, -2.757516860961914, -0.005381624214351177, 1.9611330032348633, -0.020206881687045097, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000021/meta.json b/rc-table30-v1__rc-franka/000021/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..caa15efc2f709d5219a2b89ac8822c40c9772e27
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000021/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 483,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000021/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000021/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..73c132840224cdceca7396bcae42951311eb010e
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000021/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279952245 -0.00499736036614 0.155440674113" quat="-0.192610302437 -0.653136793631 0.705244248638 0.197342722095" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000021/temporal.json b/rc-table30-v1__rc-franka/000021/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c881848eb6218fa3e0d91ab077638424367cbd6
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000021/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.00012644947855733335, -0.78072589635849, 0.000421489414293319, -2.7577097415924072, -0.005402741953730583, 1.959089994430542, -0.01614818163216114, 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": [-0.00012779766984749585, -0.7807247042655945, 0.00042346096597611904, -2.757706880569458, -0.005403434857726097, 1.959089994430542, -0.01614665985107422, 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": [-0.00012782331032212824, -0.7807258367538452, 0.00042206147918477654, -2.7577054500579834, -0.005402243230491877, 1.959089994430542, -0.01614982821047306, 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": 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0.002349413698539138, 1.9611680507659912, -0.015889668837189674, 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": [0.00022935708693694323, -0.7808637619018555, -3.26168374158442e-05, -2.757370710372925, 0.0023452709428966045, 1.961168646812439, -0.01585635542869568, 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": [0.00022844299382995814, -0.7808629870414734, -2.500735536159482e-05, -2.757373094558716, 0.0023415349423885345, 1.961164116859436, -0.01584000140428543, 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": [0.0002269252436235547, -0.7808635234832764, -2.4680892238393426e-05, -2.7573719024658203, 0.0023503946140408516, 1.9611691236495972, -0.015830842778086662, 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": [0.0002258958702441305, -0.7808616161346436, -3.259070581407286e-05, -2.75736927986145, 0.0023457156494259834, 1.9611682891845703, -0.015816785395145416, 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": [0.0002269115502713248, -0.7808616757392883, -2.842912363121286e-05, -2.757371664047241, 0.002346218563616276, 1.961168646812439, -0.015810636803507805, 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": [0.0002269096003146842, -0.7808606028556824, -2.980338285851758e-05, -2.757369041442871, 0.0023456760682165623, 1.9611691236495972, -0.015803905203938484, 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": [0.0002245276264147833, -0.7808586359024048, -2.886507354560308e-05, -2.757371425628662, 0.002342933788895607, 1.9611691236495972, -0.01579638384282589, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000022/meta.json b/rc-table30-v1__rc-franka/000022/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..186226e6b465300721dd2c27556c6580f9ce685d
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000022/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 897,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000022/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000022/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b8d4ddf23403a73e465454a0f4e02dec05b691ec
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000022/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405709754 0.000224431397385 0.176650131359" quat="-0.189077810458 -0.661456802171 0.706997285236 0.163949135779" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000022/temporal.json b/rc-table30-v1__rc-franka/000022/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..88c23a7ea0b8b969a58907cf19fef682141fc9c4
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000022/temporal.json
@@ -0,0 +1 @@
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"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": [-0.0008517316891811788, -0.784147322177887, -0.0014470580499619246, -2.7538576126098633, 0.002846076851710677, 1.9631154537200928, -0.014612853527069092, 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": [-0.0008505154401063919, -0.7841428518295288, -0.0014477712102234364, -2.7538669109344482, 0.0028476242441684008, 1.96312415599823, -0.01461748592555523, 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": [-0.00085369375301525, -0.7841407656669617, -0.0014458541991189122, -2.7538633346557617, 0.002847050316631794, 1.9631211757659912, -0.014612951315939426, 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": [-0.0008572104852646589, -0.7841430902481079, -0.0014490113826468587, -2.7538540363311768, 0.0028466477524489164, 1.9631130695343018, -0.01461382769048214, 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": [-0.0008549275225959718, -0.7841406464576721, -0.0014461487298831344, -2.753861904144287, 0.0028481020126491785, 1.963112235069275, -0.014618918299674988, 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": [-0.0008526444435119629, -0.784140944480896, -0.0014495465438812971, -2.7538695335388184, 0.0028502882923930883, 1.9631168842315674, -0.014610507525503635, 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": [-0.0008526737219654024, -0.784140408039093, -0.001452228520065546, -2.753887414932251, 0.00284710549749434, 1.9631134271621704, -0.014611080288887024, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000023/meta.json b/rc-table30-v1__rc-franka/000023/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7ce6d52d16a774b290844e2343233f83e3689d8
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000023/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1220,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000023/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000023/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1e590fdaba89d333ea38b84015a8423eb66107bd
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000023/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405793122 0.000224434773289 0.176650152673" quat="-0.18907780245 -0.661456800162 0.706997290482 0.163949130499" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000023/temporal.json b/rc-table30-v1__rc-franka/000023/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea49f1af1d90fcd691b4ea59b8cfc1d16ae79ba4
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000023/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-franka/000024/meta.json b/rc-table30-v1__rc-franka/000024/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e349aa75b52cb88868263fc00f02bef2ee2c20f1
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000024/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 67,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000024/temporal.json b/rc-table30-v1__rc-franka/000024/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..945bb00b7a9e3cc840735ebc99b0e368c407f8c4
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000024/temporal.json
@@ -0,0 +1 @@
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-0.005245125852525234, 1.9598551988601685, -0.019357260316610336, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000025/meta.json b/rc-table30-v1__rc-franka/000025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b36fc62f3cea0b9bff517089431e062a91ecb376
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000025/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 150,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000025/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000025/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ccc0839f319c9a439230e3c17e4e0ea4632dc097
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000025/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279965495 -0.00499735953099 0.155440681284" quat="-0.192610306595 -0.653136789606 0.70524425092 0.197342723203" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000025/temporal.json b/rc-table30-v1__rc-franka/000025/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..562ceb623de02d1850addae4af36a80d5ffe8899
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000025/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.0004943305975757539, -0.7806589007377625, 0.0001862173230620101, -2.758303165435791, -0.004250045865774155, 1.9550443887710571, -0.01656126044690609, 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": [-0.0004931053845211864, -0.7806599736213684, 0.0001890180865302682, -2.758303165435791, -0.0042505147866904736, 1.955045461654663, -0.016558906063437462, 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": [-0.0004921663203276694, -0.7806574702262878, 0.00018462937441654503, -2.7583024501800537, -0.004250934813171625, 1.9550480842590332, -0.016561688855290413, 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": [-0.0004933984600938857, -0.7806565761566162, 0.00018651995924301445, -2.7583000659942627, -0.004250505473464727, 1.9550482034683228, -0.016564657911658287, 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": [-0.0004935953766107559, -0.7806599736213684, 0.00018479257414583117, -2.7583017349243164, -0.004250098019838333, 1.9550483226776123, -0.016566310077905655, 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": [-0.0004979534423910081, -0.7806056141853333, 0.00018304692639503628, -2.7583439350128174, -0.004253955092281103, 1.954988956451416, -0.01657443307340145, 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": [-0.0005371707957237959, -0.7629196047782898, 0.0001105993433156982, -2.744337797164917, -0.004293748643249273, 1.9483243227005005, -0.01665479876101017, 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": [-0.0007800665916875005, -0.7282769680023193, -0.000592000549659133, -2.7175493240356445, -0.004296934697777033, 1.9508397579193115, -0.01678779534995556, 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": [-0.0009909453801810741, -0.6917603611946106, -0.001175227458588779, -2.689598798751831, -0.004308302421122789, 1.9532359838485718, -0.016853995621204376, 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": [-0.0013042489299550653, -0.6563382148742676, 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diff --git a/rc-table30-v1__rc-franka/000026/meta.json b/rc-table30-v1__rc-franka/000026/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d50ea05244f50723465438caa151b572365edb94
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000026/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 762,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000026/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000026/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f3d59c0ade9dc7c3976309f42dd0d39ad79e4efc
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000026/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.087027974629 -0.0049973609583 0.155440680653" quat="-0.192610310914 -0.653136799657 0.705244241938 0.19734271782" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000026/temporal.json b/rc-table30-v1__rc-franka/000026/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..edfdfd835bc25c76a542da22596ffd40b3fde600
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000026/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.00045918210525996983, -0.7789631485939026, 4.413388523971662e-05, -2.7589447498321533, -0.005251760594546795, 1.9606019258499146, -0.017961060628294945, 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": [-0.0004613116616383195, -0.7789660692214966, 4.7837456804700196e-05, -2.7589457035064697, -0.00524793891236186, 1.9606009721755981, -0.01795439049601555, 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": [-0.0004591903416439891, -0.7789665460586548, 4.521780283539556e-05, -2.7589457035064697, -0.005250703543424606, 1.9606012105941772, -0.017958223819732666, 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": [-0.00045743261580355465, -0.7789665460586548, 4.5707110984949395e-05, -2.758944511413574, -0.005251762457191944, 1.9606014490127563, -0.017955252900719643, 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": [-0.0004591783508658409, -0.7789653539657593, 4.546036871033721e-05, -2.7589423656463623, -0.005250039044767618, 1.9606009721755981, -0.017956318333745003, 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": [-0.0004579527594614774, -0.7789694666862488, 5.005300045013428e-05, -2.758945941925049, -0.005248056259006262, 1.960602045059204, -0.017959661781787872, 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": [-0.00046131276758387685, -0.7789685130119324, 4.3098720198031515e-05, -2.7589428424835205, -0.005245368927717209, 1.960601806640625, -0.0179599616676569, 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": [-0.00046040755114518106, -0.778971254825592, 4.413388523971662e-05, -2.758936643600464, -0.005248041357845068, 1.960602045059204, -0.017955150455236435, 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": [-0.00045672242413274944, -0.7789730429649353, 4.8582558520138264e-05, -2.758939504623413, -0.00524804275482893, 1.9606046676635742, -0.017956173047423363, 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": [-0.0004563716356642544, -0.7779492735862732, 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diff --git a/rc-table30-v1__rc-franka/000027/meta.json b/rc-table30-v1__rc-franka/000027/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eb472b83389b8e61a28ab9b35ba6892d04416ee
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000027/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 159,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000027/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000027/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ab99020bcaa6fe6360352bf22a68cd4ad59f6455
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000027/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279852061 -0.00499736010775 0.155440680591" quat="-0.192610307817 -0.653136796084 0.70524424507 0.197342721478" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000027/temporal.json b/rc-table30-v1__rc-franka/000027/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..3210e6a94b7b10242d946c8e3476e4cb531a3150
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000027/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.0010275739477947354, -0.7801513075828552, -0.001037362846545875, -2.7585363388061523, -0.004621089436113834, 1.9621890783309937, -0.01795664057135582, 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": [-0.001023583230562508, -0.7801489233970642, -0.0010342850582674146, -2.7585337162017822, -0.0046196915209293365, 1.9621808528900146, -0.01795811764895916, 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": [-0.0010251147905364633, -0.7801472544670105, -0.0010359896114096045, -2.758535146713257, -0.004621338564902544, 1.9621803760528564, -0.01795990951359272, 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": [-0.0010259633418172598, -0.7801425457000732, -0.0010359573643654585, -2.7585320472717285, -0.004617852158844471, 1.96217679977417, -0.01795610412955284, 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": [-0.0010257253888994455, -0.7801446914672852, -0.0010333509417250752, -2.7585344314575195, -0.004617157392203808, 1.9621717929840088, -0.017956051975488663, 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": [-0.0010267801117151976, -0.7801430225372314, -0.0010361417662352324, -2.758535146713257, -0.004612084478139877, 1.9621707201004028, -0.017950814217329025, 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": [-0.001024615834467113, -0.7801430225372314, -0.001031919033266604, -2.758531093597412, -0.004612136632204056, 1.9621670246124268, -0.01795327104628086, 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": [-0.0010259259724989533, -0.7801452279090881, -0.001030657673254609, -2.7585337162017822, -0.0046124826185405254, 1.9621655941009521, -0.01794619672000408, 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": [-0.0010244044242426753, -0.7801408767700195, -0.001034167013131082, -2.758532762527466, -0.0046119592152535915, 1.9621633291244507, -0.017954571172595024, 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": [-0.0010757246054708958, -0.7767546772956848, 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[-0.042978379875421524, -0.590448796749115, -0.14491689205169678, -2.5386974811553955, -0.036838509142398834, 1.9135639667510986, -0.16539065539836884, 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": [-0.0389813594520092, -0.6078469157218933, -0.13152864575386047, -2.558751344680786, -0.03427139297127724, 1.9169461727142334, -0.1518491506576538, 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": [-0.03517964482307434, -0.6247125267982483, -0.11851570010185242, -2.5788164138793945, -0.031846046447753906, 1.920400857925415, -0.13855421543121338, 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": [-0.031361885368824005, -0.6427650451660156, -0.10502868890762329, -2.599000930786133, -0.02877746894955635, 1.923824667930603, -0.1249740719795227, 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": [-0.027427617460489273, -0.6602619886398315, -0.09166637063026428, -2.6192400455474854, -0.025499748066067696, 1.9277688264846802, -0.11196575313806534, 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": [-0.02366522140800953, -0.677438497543335, -0.0783362165093422, -2.6393964290618896, -0.02180255763232708, 1.9322142601013184, -0.09869541972875595, 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": [-0.019975464791059494, -0.695259690284729, -0.06506974995136261, -2.6594669818878174, -0.019031038507819176, 1.9362951517105103, -0.08524839580059052, 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": [-0.016100982204079628, -0.7127528190612793, -0.05162772163748741, -2.679673194885254, -0.016215795651078224, 1.9398199319839478, -0.07129530608654022, 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": [-0.012173532508313656, -0.7298668026924133, -0.03824375197291374, -2.699761152267456, -0.013749683275818825, 1.943501353263855, -0.057798001915216446, 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": [-0.008387060835957527, -0.7477075457572937, -0.024959642440080643, -2.7197046279907227, -0.010810843668878078, 1.9473681449890137, -0.04463537782430649, 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": [-0.004535245709121227, -0.7649515867233276, -0.011866090819239616, -2.739628791809082, -0.008063927292823792, 1.951219081878662, -0.031777799129486084, 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": [-0.00042356119956821203, -0.7804487943649292, 0.00031197667703963816, -2.758307456970215, -0.005827332381159067, 1.954306721687317, -0.019723733887076378, 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": [-4.9950704124057665e-05, -0.7806705236434937, 0.0005332640139386058, -2.7584075927734375, -0.005455018021166325, 1.9546265602111816, -0.019475990906357765, 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": [-6.475503323599696e-05, -0.7806291580200195, 0.00046933520934544504, -2.758387804031372, -0.00535274762660265, 1.9547077417373657, -0.019402405247092247, 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": [-6.647602276643738e-05, -0.7806135416030884, 0.0004594516649376601, -2.7583811283111572, -0.0052893441170454025, 1.9547518491744995, -0.019375838339328766, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000028/meta.json b/rc-table30-v1__rc-franka/000028/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d82c2f1fb552f60ff45fc1b2d0ba889655294f4
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000028/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1247,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000028/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000028/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6a0cef0b714d4afd2a72ac96c53ac12f0dca60e9
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000028/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405552076 0.000224431304424 0.176650131152" quat="-0.189077803835 -0.661456799973 0.70699728924 0.163949135016" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000028/temporal.json b/rc-table30-v1__rc-franka/000028/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..19b3f7c5b6e125155894c37a36877637dc68e5f9
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000028/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.0015309043228626251, -0.7842023372650146, -0.001986234914511442, -2.754392623901367, 0.002510573249310255, 1.962559461593628, -0.015405588783323765, 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": [-0.0015350354369729757, -0.7842183113098145, -0.001995151164010167, -2.754394292831421, 0.0025091597344726324, 1.9625613689422607, -0.015402548015117645, 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": [-0.001532752183265984, -0.7842157483100891, -0.001991107827052474, -2.754392623901367, 0.002509074518457055, 1.9625571966171265, -0.015406809747219086, 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": [-0.0015342183178290725, -0.7842022776603699, -0.0019950575660914183, -2.754396438598633, 0.0025062519125640392, 1.9625589847564697, -0.015403948724269867, 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": [-0.0015312850009649992, -0.7842018604278564, -0.0019969982095062733, -2.7543814182281494, 0.0025067096576094627, 1.962557315826416, -0.015404246747493744, 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": [-0.0015376582741737366, -0.7842059135437012, -0.001992317847907543, -2.7543818950653076, 0.0025100102648139, 1.9625604152679443, -0.015405726619064808, 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": [-0.00153054588008672, 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diff --git a/rc-table30-v1__rc-franka/000029/meta.json b/rc-table30-v1__rc-franka/000029/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f3631b75f11549ea896197908db6b8caf6f8513
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000029/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 612,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000029/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000029/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..057c4f656875674597686f8cdb523ff18b454a91
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000029/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870280043457 -0.0049973591184 0.155440676774" quat="-0.192610310414 -0.653136788553 0.705244250753 0.197342723557" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000029/temporal.json b/rc-table30-v1__rc-franka/000029/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e5c7a12cf0d14cf418c630097323756af53a8a2
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000029/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.00032688071951270103, -0.780918538570404, 0.00025943174841813743, -2.7584667205810547, 0.0048185377381742, 1.955094814300537, -0.017546160146594048, 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": [0.0003303925914224237, -0.780914306640625, 0.00026163505390286446, -2.7584667205810547, 0.004824069328606129, 1.9550938606262207, -0.017545685172080994, 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": [0.00033164836349897087, -0.7809184193611145, 0.0002583713794592768, -2.758467197418213, 0.004824692849069834, 1.955094814300537, -0.01754540391266346, 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": [0.000329189671901986, -0.7809184193611145, 0.0002616088022477925, -2.75846791267395, 0.004819964058697224, 1.955094337463379, -0.017547225579619408, 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": [0.0003185048990417272, -0.7802632451057434, 0.0002553228987380862, -2.7586629390716553, 0.00483360281214118, 1.951364278793335, -0.017622001469135284, 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": [-0.00032061670208349824, -0.73081374168396, -0.0003570747503545135, -2.718512535095215, 0.004827708937227726, 1.956571340560913, -0.01826494373381138, 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": [-0.0017125328304246068, -0.6501879096031189, -0.0018753156764432788, -2.663673162460327, 0.004830373916774988, 1.970384120941162, -0.01846807636320591, 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": [-0.002428665990009904, -0.5829713940620422, -0.0023578398395329714, -2.6114065647125244, 0.004831705708056688, 1.980493187904358, -0.01850038208067417, 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": [-0.0031299476977437735, -0.5066835880279541, -0.0029957040678709745, -2.5498745441436768, 0.004830784164369106, 1.9890328645706177, -0.018519556149840355, 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": [-0.0035887425765395164, -0.43823686242103577, -0.0034029423259198666, -2.4904677867889404, 0.004832583945244551, 1.993672251701355, -0.01852581463754177, 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": [-0.004077521152794361, -0.3718927502632141, -0.0037672938778996468, -2.430844783782959, 0.004831137601286173, 1.9958802461624146, -0.01852474734187126, 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": [-0.004433489870280027, -0.3081786334514618, -0.003999808337539434, -2.3701963424682617, 0.004834375809878111, 1.997168779373169, -0.01853261888027191, 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": [-0.004642803221940994, -0.29940199851989746, -0.003993195481598377, 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diff --git a/rc-table30-v1__rc-franka/000030/meta.json b/rc-table30-v1__rc-franka/000030/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b1f24dd992708b115e090ab1c0c8c55da9bac8a
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000030/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 727,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000030/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000030/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5299c15de9186f5e35d8b4b60ae534dfec584b0f
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000030/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870280054417 -0.00499735896499 0.155440676818" quat="-0.192610310252 -0.653136791674 0.705244251577 0.197342710441" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000031/meta.json b/rc-table30-v1__rc-franka/000031/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1f92c867c7e3e0f006fcb873deb9ea8a558a951
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000031/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1065,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000031/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000031/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6352d6896f1230e0a25700ec10123b1eef8b69d5
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000031/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405759776 0.000224432051378 0.176650155672" quat="-0.189077800581 -0.66145680581 0.706997285761 0.163949130228" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000031/temporal.json b/rc-table30-v1__rc-franka/000031/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..9352e5894133980630f064f5c09f562e48ee4df9
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000031/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.00028764066519215703, -0.784220814704895, 7.772103708703071e-05, -2.7542154788970947, -0.003668438410386443, 1.9627745151519775, 0.01688067987561226, 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": [0.00028962051146663725, -0.7842176556587219, 7.87078170105815e-05, -2.7542166709899902, -0.003664654679596424, 1.9627773761749268, 0.016880366951227188, 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": [0.00029233747045509517, -0.7842230796813965, 7.672797801205888e-05, -2.754225492477417, -0.0036678286269307137, 1.962775707244873, 0.016887620091438293, 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": [0.00029009932768531144, -0.7842230200767517, 8.018362859729677e-05, -2.75423526763916, -0.0036646269727498293, 1.9627745151519775, 0.016882527619600296, 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": [0.0002891608455684036, -0.7842174172401428, 7.895330782048404e-05, -2.7542355060577393, -0.00366393500007689, 1.9627753496170044, 0.016885098069906235, 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": [0.00029011553851887584, -0.7842218279838562, 8.041058026719838e-05, -2.7542178630828857, -0.0036713178269565105, 1.9627771377563477, 0.016888797283172607, 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": [0.0002960832789540291, -0.7842239141464233, 7.772396202199161e-05, -2.7542166709899902, -0.00366629078052938, 1.9627749919891357, 0.01687968708574772, 0.03986785113811493, 0.0, 0.03986785113811493, -0.03843260849714279, 0.03986785113811493, 0.0, 0.03986785113811493, -0.03843260849714279], "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": [0.00029185289167799056, -0.7842182517051697, 7.547943823738024e-05, -2.754220485687256, -0.0036697941832244396, 1.9627771377563477, 0.01688428595662117, 0.1821585923433304, 0.0, 0.1821585923433304, -0.1756008830189705, 0.1821585923433304, 0.0, 0.1821585923433304, -0.1756008830189705], "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": [0.0002913458156399429, -0.784216582775116, 7.488325354643166e-05, -2.7542190551757812, -0.0036701029166579247, 1.9627737998962402, 0.016884781420230865, 0.3169603452086449, 0.0, 0.3169603452086449, -0.3055497727811337, 0.3169603452086449, 0.0, 0.3169603452086449, -0.3055497727811337], "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": [0.0002932435309048742, -0.7842193841934204, 7.870684203226119e-05, -2.7542312145233154, -0.003669265192002058, 1.9627759456634521, 0.01688040979206562, 0.4480176225304604, 0.0, 0.4480176225304604, -0.4318889881193638, 0.4480176225304604, 0.0, 0.4480176225304604, -0.4318889881193638], "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": [0.00029123961576260626, -0.7842205762863159, 7.7712262282148e-05, -2.7542476654052734, -0.0036722326185554266, 1.9627766609191895, 0.016885098069906235, 0.5790748812258244, 0.0, 0.5790748812258244, -0.5582281855016947, 0.5790748812258244, 0.0, 0.5790748812258244, -0.5582281855016947], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 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diff --git a/rc-table30-v1__rc-franka/000032/meta.json b/rc-table30-v1__rc-franka/000032/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e9f3640c1f80189135d4c5fa9d73f326086583
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000032/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 145,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000032/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000032/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..76427081c5820d00301d5281da3cf3348e3b500a
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000032/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279762785 -0.0049973610436 0.155440680763" quat="-0.192610303931 -0.653136802768 0.705244239969 0.197342721377" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000032/temporal.json b/rc-table30-v1__rc-franka/000032/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a1996abf2753f4d3961400d33a5fae3d0ed867b
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000032/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.00010503582598175853, -0.7807093858718872, 0.0005556216929107904, -2.756420135498047, -0.0052801393903791904, 1.9612011909484863, 0.019222011789679527, 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": [0.00010662270506145433, -0.7807093858718872, 0.0005577525007538497, -2.75642466545105, -0.005283354315906763, 1.9612021446228027, 0.019216462969779968, 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": [0.00010546023986535147, -0.7807103991508484, 0.0005568597698584199, -2.756422758102417, -0.005281560122966766, 1.9612021446228027, 0.019219188019633293, 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": 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"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": [-0.03496336564421654, -0.6967591643333435, -0.02193634770810604, -2.6757967472076416, 0.0075524053536355495, 1.950026512145996, -0.05213214457035065, 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": [-0.015375401824712753, -0.7458649277687073, -0.0095922676846385, -2.723419666290283, 0.006485864520072937, 1.9528270959854126, -0.03311324119567871, 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": [-0.015375401824712753, -0.7458649277687073, -0.0095922676846385, -2.723419666290283, 0.006485864520072937, 1.9528270959854126, -0.03311324119567871, 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": [-0.00020926003344357014, -0.7827140092849731, 0.0006358977989293635, -2.758986473083496, 0.0055365306325256824, 1.9543805122375488, -0.018410786986351013, 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": [-0.00027160640456713736, -0.7809074521064758, 0.00024312220921274275, -2.758418321609497, 0.005439376458525658, 1.9547178745269775, -0.018305791541934013, 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": [-0.00027160640456713736, -0.7809074521064758, 0.00024312220921274275, -2.758418321609497, 0.005439376458525658, 1.9547178745269775, -0.018305791541934013, 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": [-0.00026907422579824924, -0.7808660268783569, 0.00023992818023543805, -2.7584149837493896, 0.005394636187702417, 1.9547516107559204, -0.018266970291733742, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000033/meta.json b/rc-table30-v1__rc-franka/000033/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7094a95baaf0f19f4f1e9cb78d4bac89f5785ea3
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000033/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1252,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000033/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000033/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9a768e4e7f92df01141d1c27bc498672c32c29eb
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000033/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405699661 0.000224430478338 0.176650138018" quat="-0.189077808665 -0.661456801651 0.706997286144 0.163949136031" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000033/temporal.json b/rc-table30-v1__rc-franka/000033/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..4090e69921e748262f6c0b4d7431876cdac08467
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000033/temporal.json
@@ -0,0 +1 @@
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1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0013223729329183698, -0.7845118045806885, -0.0018981320317834616, -2.7539496421813965, -0.0015068044885993004, 1.962709665298462, -0.014354145154356956, 0.16718061566352846, 0.0, 0.16718061566352846, -0.16116211349964144, 0.16718061566352846, 0.0, 0.16718061566352846, -0.16116211349964144], "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": [-0.0013378887670114636, -0.7842320799827576, -0.0019347821362316608, -2.7541215419769287, -0.001511064125224948, 1.9626809358596802, -0.014416305348277092, 0.04361236393451691, 0.0, 0.04361236393451691, -0.0420423188328743, 0.04361236393451691, 0.0, 0.04361236393451691, -0.0420423188328743], "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": [-0.0013486227253451943, -0.784236490726471, -0.0019409394590184093, -2.754094123840332, -0.0015172972343862057, 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diff --git a/rc-table30-v1__rc-franka/000035/meta.json b/rc-table30-v1__rc-franka/000035/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07836b9381429697b27f7cb1dacbe29eb7c34c76
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000035/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 444,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000035/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000035/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..2f023f50646de9a5287e93d3d17a08dc9df82ee9
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000035/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279789113 -0.00499736082589 0.155440675772" quat="-0.192610310027 -0.653136800344 0.705244241281 0.197342718762" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000035/temporal.json b/rc-table30-v1__rc-franka/000035/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5d4a1ef251055d9810915b1b6b8dab4c8ff846a
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000035/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [3.57352510036435e-05, -0.7806651592254639, 0.0004961180966347456, -2.7576816082000732, -0.005585018545389175, 1.9612003564834595, -0.016326386481523514, 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": [3.2958931114990264e-05, -0.780668318271637, 0.0004882998764514923, -2.757681369781494, -0.005583601538091898, 1.9611965417861938, -0.016333527863025665, 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": [3.579991971491836e-05, -0.780668318271637, 0.0004916269099339843, -2.757683753967285, -0.005585616920143366, 1.9611963033676147, -0.016329819336533546, 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": [3.4794687962858006e-05, -0.7806679606437683, 0.0004906783578917384, -2.7576851844787598, -0.0055849142372608185, 1.9611968994140625, -0.016333526000380516, 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": [-0.0002799205540213734, -0.7504009008407593, -0.0007191576878540218, -2.7345001697540283, -0.005988315213471651, 1.9574557542800903, -0.017635753378272057, 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": [-0.0002799205540213734, -0.7504009008407593, -0.0007191576878540218, -2.7345001697540283, -0.005988315213471651, 1.9574557542800903, -0.017635753378272057, 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": [-0.004972964990884066, -0.594609797000885, -0.00869937427341938, -2.6199028491973877, -0.007115932181477547, 1.9828909635543823, -0.01969164051115513, 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": [-0.006426644511520863, -0.5243936777114868, -0.011992251500487328, -2.5640835762023926, -0.007320269476622343, 1.9888843297958374, -0.020151928067207336, 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": [-0.0074460324831306934, -0.4563109278678894, -0.015096358023583889, -2.5059163570404053, -0.0073548369109630585, 1.9941749572753906, -0.020555179566144943, 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": [-0.0074460324831306934, -0.4563109278678894, -0.015096358023583889, -2.5059163570404053, -0.0073548369109630585, 1.9941749572753906, -0.020555179566144943, 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": [-0.008305750787258148, -0.3908279836177826, -0.017695864662528038, -2.4474496841430664, -0.007364083547145128, 1.9963762760162354, -0.020830893889069557, 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": [-0.010307113640010357, -0.2648485600948334, -0.022693123668432236, -2.325831174850464, -0.0073639024049043655, 1.9980770349502563, -0.021867498755455017, 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": [-0.011365470476448536, -0.2033599615097046, 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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]]}]}
diff --git a/rc-table30-v1__rc-franka/000036/meta.json b/rc-table30-v1__rc-franka/000036/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5b41f64f6902b8b58c318af14a3136aa3c46e89
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000036/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 772,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000036/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000036/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cadce2252971cab2b7f25163b203b2ed00194186
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000036/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870280020088 -0.00499735912902 0.15544068598" quat="-0.192610307606 -0.653136790833 0.705244249357 0.19734272374" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000036/temporal.json b/rc-table30-v1__rc-franka/000036/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a3f640160913db78002e5142374292749026967
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000036/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.001365323201753199, -0.7794716954231262, -0.0009651928558014333, -2.7558341026306152, 0.0048909615725278854, 1.9556282758712769, 0.019645733758807182, 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": [-0.00136377674061805, -0.7794729471206665, -0.0009658020571805537, -2.7558372020721436, 0.004890344105660915, 1.9556375741958618, 0.019639521837234497, 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": [-0.0013567537534981966, -0.7794580459594727, -0.0009565298678353429, -2.755838394165039, 0.004885599482804537, 1.9556576013565063, 0.0196419395506382, 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": [-0.001343536889180541, -0.7794790863990784, -0.0009507982758805156, -2.755870819091797, 0.004885480739176273, 1.9556740522384644, 0.019641097635030746, 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": [-0.001336507499217987, -0.7794662714004517, -0.0009529019007459283, -2.755876064300537, 0.004885086324065924, 1.955675721168518, 0.019639501348137856, 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": [-0.0013353575486689806, -0.7794799208641052, -0.0009485030313953757, -2.755884885787964, 0.004886440001428127, 1.9556853771209717, 0.019645698368549347, 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": [-0.001368344179354608, -0.7785024642944336, -0.0009538227459415793, -2.7555863857269287, 0.004894941579550505, 1.9545116424560547, 0.019763896241784096, 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": [-0.0015176191227510571, -0.7475672364234924, -0.000997897470369935, -2.7301809787750244, 0.004899214953184128, 1.9515525102615356, 0.019780294969677925, 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": [-0.0021196736488491297, -0.6875810027122498, -0.0014825701946392655, -2.687716007232666, 0.00489801773801446, 1.9609804153442383, 0.019777994602918625, 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": [-0.00272980984300375, -0.626237154006958, 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diff --git a/rc-table30-v1__rc-franka/000037/meta.json b/rc-table30-v1__rc-franka/000037/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dafdeac01a57497f2a862deb19aa54376084ef85
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000037/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1062,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000037/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000037/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..589390cdf3794cdfea9094ead5d139708f83c964
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000037/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.071740572639 0.000224434040439 0.176650138176" quat="-0.189077803637 -0.661456790819 0.706997298049 0.163949134192" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000037/temporal.json b/rc-table30-v1__rc-franka/000037/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c0f462745aaadeae2669de3a542b32c52ab9daf
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000037/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.0009325392311438918, -0.7841330170631409, -0.001377365319058299, -2.75386381149292, 0.003080027410760522, 1.963393211364746, -0.014636237174272537, 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": [-0.0009371053311042488, -0.7841343879699707, -0.0013779009459540248, -2.753854274749756, 0.0030795824714004993, 1.9633903503417969, -0.014633444137871265, 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": [-0.0009335887152701616, -0.7841330766677856, -0.0013779535656794906, -2.7538535594940186, 0.0030752934981137514, 1.9633907079696655, -0.014631109312176704, 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": 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diff --git a/rc-table30-v1__rc-franka/000038/meta.json b/rc-table30-v1__rc-franka/000038/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f18a63f0142ad2f79076724f6549179ae896426
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000038/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 902,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000038/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000038/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4aeaac0c725f74fd2853721bfc941f30123c5a9e
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000038/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405808551 0.000224433278656 0.176650138701" quat="-0.189077804488 -0.661456805291 0.706997284025 0.163949135299" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000038/temporal.json b/rc-table30-v1__rc-franka/000038/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ecce6714e363ea7a6cf055bdd92564b02b9c8a4
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000038/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.00029872130835428834, -0.7842019200325012, 0.0003564774233382195, -2.7541236877441406, -0.0035771005786955357, 1.9628411531448364, 0.017040923237800598, 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": [0.00029861563234589994, -0.7842029929161072, 0.0003605927631724626, -2.7541303634643555, -0.003579329699277878, 1.9628411531448364, 0.017043337225914, 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": [0.0002982478472404182, -0.7841954231262207, 0.0003589302359614521, -2.754126787185669, -0.0035783492494374514, 1.962844967842102, 0.0170437078922987, 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": [0.0002965042076539248, -0.7842028737068176, 0.00035944749834015965, -2.754117965698242, -0.003582974663004279, 1.9628413915634155, 0.01704476960003376, 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": [0.000293420918751508, -0.7842018604278564, 0.000361576589057222, -2.7541205883026123, -0.003579791635274887, 1.9628406763076782, 0.017041442915797234, 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": [0.0002999550779350102, -0.7841995358467102, 0.0003601592034101486, -2.7541186809539795, -0.003582367207854986, 1.9628410339355469, 0.017040930688381195, 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": [0.0002980656281579286, 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[-0.0006245180848054588, -0.7841381430625916, -0.0005332832806743681, -2.753012180328369, -0.003783843480050564, 1.963964581489563, -0.014407704584300518, 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": [-0.0006344056455418468, -0.7841408252716064, -0.0005347104161046445, -2.7530503273010254, -0.003784838132560253, 1.9639651775360107, -0.014405442401766777, 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": [-0.0006384425214491785, -0.7841364741325378, -0.0005390386795625091, -2.7530641555786133, -0.0037807640619575977, 1.9639711380004883, -0.014407259412109852, 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": [-0.0006463972968049347, -0.7841300368309021, -0.0005354224122129381, -2.7530877590179443, -0.003784323111176491, 1.9639747142791748, -0.014408557675778866, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000039/meta.json b/rc-table30-v1__rc-franka/000039/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c1410acb3b2580403cd3898737653bcf17b2422
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000039/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 478,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000039/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000039/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9919eac5c6fa5b373b9d2cfc55ebecf213802747
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000039/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279691198 -0.0049973611629 0.155440665874" quat="-0.192610305949 -0.653136790928 0.705244250669 0.197342720355" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000039/temporal.json b/rc-table30-v1__rc-franka/000039/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..290fa0eff88dae9db8f87b703d3021aedcd55041
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000039/temporal.json
@@ -0,0 +1 @@
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1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-7.826594810467213e-05, -0.7807965278625488, 0.0001737849961500615, -2.7581892013549805, 0.004113329108804464, 1.95998215675354, -0.016734285280108452, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000040/meta.json b/rc-table30-v1__rc-franka/000040/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50afb187df8a6e60f4754bdf763e2cf408c69634
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000040/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 425,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000040/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000040/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e3e554ecdf53e51888eb3345c3170317a180089c
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000040/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279874648 -0.00499735958889 0.15544069049" quat="-0.19261030934 -0.6531368018 0.705244239516 0.19734272092" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000040/temporal.json b/rc-table30-v1__rc-franka/000040/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1999650b928d1aad2dbf79b533d763269401bc2
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000040/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0016273364890366793, -0.7807298302650452, 0.0015840006526559591, -2.7560760974884033, 0.005650974344462156, 1.9620566368103027, 0.018862903118133545, 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": [0.0016216012882068753, -0.7807354927062988, 0.001579368021339178, -2.7560715675354004, 0.005650973878800869, 1.9620541334152222, 0.018784349784255028, 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": [0.0016231047920882702, -0.7807325124740601, 0.0015682907542213798, -2.756073236465454, 0.005650161765515804, 1.9620541334152222, 0.018715571612119675, 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": [0.001617593690752983, -0.7807343006134033, 0.0015636358875781298, -2.7560791969299316, 0.005647084675729275, 1.9620524644851685, 0.018653007224202156, 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": [0.001614472595974803, -0.7807342410087585, 0.001561431447044015, -2.7560789585113525, 0.005651599727571011, 1.9620519876480103, 0.018571732565760612, 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": [0.0016076663741841912, -0.7807304263114929, 0.0015537949511781335, -2.756079912185669, 0.005650668404996395, 1.962052583694458, 0.01850874535739422, 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": [0.0005062994314357638, -0.7611557841300964, -0.0003883264434989542, -2.7405638694763184, 0.005627433303743601, 1.9555225372314453, 0.01856701821088791, 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": [-0.0016953102312982082, -0.7164419293403625, -0.003123519942164421, -2.706166982650757, 0.0055770594626665115, 1.9582699537277222, 0.018577029928565025, 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": [-0.004178795963525772, -0.6569932699203491, -0.006220757495611906, -2.662459373474121, 0.005420744884759188, 1.964961051940918, 0.01856435090303421, 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": [-0.007725714240223169, -0.5968866348266602, -0.01112127210944891, -2.6165173053741455, 0.004806914832442999, 1.972177267074585, 0.018258335068821907, 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": [-0.01176433265209198, -0.5388121008872986, -0.01746266707777977, -2.569859266281128, 0.0038742998149245977, 1.9789210557937622, 0.017328711226582527, 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": [-0.015231786295771599, -0.4814022183418274, -0.023123767226934433, -2.521556854248047, 0.0033885224256664515, 1.9836310148239136, 0.016665641218423843, 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": [-0.018380507826805115, -0.4266067147254944, -0.028522420674562454, 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[[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]]}]}
diff --git a/rc-table30-v1__rc-franka/000041/meta.json b/rc-table30-v1__rc-franka/000041/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b02b065d04a00dff13dcbd24feb30aa5158242c
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000041/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1135,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000041/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000041/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bcc9adb5c88e6c2330e101385fcbe905475b4618
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000041/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405765789 0.000224432876349 0.176650146707" quat="-0.18907780554 -0.661456801373 0.706997289274 0.163949127261" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000041/temporal.json b/rc-table30-v1__rc-franka/000041/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cb67977ffbd2450ac7532e6335498197bf9427a
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000041/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0005025175050832331, -0.7841302156448364, 0.00030585433705709875, -2.753647565841675, -0.0031064078211784363, 1.9633256196975708, 0.01721245050430298, 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": [0.0005057806265540421, -0.784130334854126, 0.00030368613079190254, -2.753650188446045, -0.003106427611783147, 1.9633232355117798, 0.01720977947115898, 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": [0.0005070090410299599, -0.7841301560401917, 0.0003070840029977262, -2.7536568641662598, -0.0031058972235769033, 1.9633207321166992, 0.01720680482685566, 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": [0.0005070070619694889, -0.7841375470161438, 0.00030483948648907244, -2.753655195236206, -0.00310788257047534, 1.963321566581726, 0.017209939658641815, 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": [0.0005047236918471754, -0.7841358780860901, 0.0003083132323808968, -2.753657579421997, -0.0031048578675836325, 1.9633208513259888, 0.017210952937602997, 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": [0.0005117517430335283, -0.7841280698776245, 0.0003104399947915226, -2.753657341003418, -0.0031047191005200148, 1.9633302688598633, 0.017209548503160477, 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": [0.0005098151741549373, -0.7841312289237976, 0.00030656385933980346, -2.753648519515991, -0.003108404576778412, 1.9633218050003052, 0.017212051898241043, 0.04361236393451691, 0.0, 0.04361236393451691, -0.0420423188328743, 0.04361236393451691, 0.0, 0.04361236393451691, -0.0420423188328743], "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": [0.0005047269514761865, -0.7841284871101379, 0.00030462531140074134, -2.7536487579345703, -0.0031043998897075653, 1.9633194208145142, 0.01721060834825039, 0.1821585923433304, 0.0, 0.1821585923433304, -0.1756008830189705, 0.1821585923433304, 0.0, 0.1821585923433304, -0.1756008830189705], "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": [0.0005022685509175062, -0.7841309309005737, 0.00030704602249898016, -2.753652572631836, -0.0031103009823709726, 1.963318109512329, 0.01720547117292881, 0.3207048580050469, 0.0, 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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": [-0.003324085148051381, -0.7626661658287048, -0.007056404836475849, -2.7383029460906982, 0.004212413914501667, 1.972957730293274, -0.02277565188705921, 0.8, 0.0, 0.8, -0.7712, 0.8, 0.0, 0.8, -0.7712], "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": [-0.0006997321615926921, -0.7870768904685974, -0.0011448903242126107, -2.75292706489563, 0.003620199393481016, 1.9636576175689697, -0.01616617478430271, 0.8, 0.0, 0.8, -0.7712, 0.8, 0.0, 0.8, -0.7712], "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": [-0.000534321297891438, -0.7857871651649475, -0.00088916887762025, -2.751955986022949, 0.003441999200731516, 1.963362693786621, -0.01530488207936287, 0.7438326014205814, 0.0, 0.7438326014205814, -0.7170546277694404, 0.7438326014205814, 0.0, 0.7438326014205814, 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[-0.000539773260243237, -0.784608781337738, -0.0008906668517738581, -2.752027988433838, 0.0032487744465470314, 1.963363528251648, -0.014260418713092804, 0.3768722519278527, 0.0, 0.3768722519278527, -0.36330485085845, 0.3768722519278527, 0.0, 0.3768722519278527, -0.36330485085845], "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": [-0.0005554342642426491, -0.784611165523529, -0.0009095540153793991, -2.7522549629211426, 0.0032697306014597416, 1.9633724689483643, -0.014256458729505539, 0.24955948740243913, 0.0, 0.24955948740243913, -0.2405753458559513, 0.24955948740243913, 0.0, 0.24955948740243913, -0.2405753458559513], "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": [-0.0005969664198346436, -0.7842223048210144, -0.0009428605553694069, -2.7537198066711426, 0.003290395252406597, 1.9633400440216064, -0.014637716114521027, 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1.9633471965789795, -0.014682333916425705, 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": [-0.0006376140518113971, -0.7841796875, -0.000985637423582375, -2.753725051879883, 0.003305791411548853, 1.9633456468582153, -0.014680372551083565, 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": [-0.0006378160323947668, -0.7841809988021851, -0.0009854701347649097, -2.7537312507629395, 0.003309566993266344, 1.9633519649505615, -0.014684299007058144, 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": [-0.0006378160323947668, -0.7841809988021851, -0.0009854701347649097, -2.7537312507629395, 0.003309566993266344, 1.9633519649505615, -0.014684299007058144, 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": [-0.0006406057509593666, -0.784166157245636, -0.0009888587519526482, -2.7537479400634766, 0.003307057311758399, 1.9633545875549316, -0.014684757217764854, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000042/meta.json b/rc-table30-v1__rc-franka/000042/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..edc52507319b45827a28914991211b26b0b6e444
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000042/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 871,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000042/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000042/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f0ae1a814309f5253446cdc8168ac86f70c9915b
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000042/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405624469 0.000224430319314 0.176650136873" quat="-0.18907780295 -0.661456810857 0.706997279238 0.163949135257" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000042/temporal.json b/rc-table30-v1__rc-franka/000042/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bf3de2f3286664c06fb837b756b35d4448c666f
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000042/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0003913282125722617, -0.7841737270355225, 0.0005733986617997289, -2.7541730403900146, -0.0033747998531907797, 1.962844729423523, 0.0167348962277174, 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": [0.00039345878758467734, -0.7841798067092896, 0.0005767570110037923, -2.7541651725769043, -0.0033716042526066303, 1.9628443717956543, 0.016731716692447662, 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": [0.00039606617065146565, -0.7841762900352478, 0.0005755306337960064, -2.754166603088379, -0.0033688528928905725, 1.9628400802612305, 0.01673133671283722, 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": [0.000396974035538733, -0.7841787934303284, 0.0005778035265393555, -2.754173755645752, -0.003375257831066847, 1.9628431797027588, 0.016732363030314445, 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": [0.00039712368743494153, -0.7841795682907104, 0.0005790416616946459, -2.754176378250122, -0.003372063860297203, 1.9628442525863647, 0.01673777401447296, 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": [0.0004004849761258811, -0.7841787338256836, 0.0005755277234129608, -2.7541744709014893, -0.0033703004010021687, 1.962844729423523, 0.01673506572842598, 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": [0.0003936125722248107, 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0.40682820528745656, -0.39218238989710813, 0.40682820528745656, 0.0, 0.40682820528745656, -0.39218238989710813], "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": [0.0003948406083509326, -0.7841783761978149, 0.0005756817990913987, -2.7541704177856445, -0.0033735206816345453, 1.9628386497497559, 0.016734566539525986, 0.5378854639828206, 0.0, 0.5378854639828206, -0.518521587279439, 0.5378854639828206, 0.0, 0.5378854639828206, -0.518521587279439], "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": [0.00039484494482167065, -0.784174382686615, 0.0005767599795944989, -2.7541699409484863, -0.0033752622548490763, 1.962838053703308, 0.01673366315662861, 0.6614537436515093, 0.0, 0.6614537436515093, -0.6376414088800549, 0.6614537436515093, 0.0, 0.6614537436515093, -0.6376414088800549], "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": [0.0003939526795875281, -0.7841757535934448, 0.0005748188705183566, -2.7541775703430176, -0.003373964922502637, 1.9628373384475708, 0.016749165952205658, 0.7925110134063289, 0.0, 0.7925110134063289, -0.763980616923701, 0.7925110134063289, 0.0, 0.7925110134063289, -0.763980616923701], "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": [0.00039958226261660457, -0.7841796278953552, 0.0005767599795944989, -2.754178285598755, -0.003377343760803342, 1.962841510772705, 0.016748517751693726, 0.8, 0.0, 0.8, -0.7712, 0.8, 0.0, 0.8, -0.7712], "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": [0.0003948406083509326, -0.7841772437095642, 0.0005747912218794227, -2.7541847229003906, -0.003376756329089403, 1.9628419876098633, 0.016753599047660828, 0.8, 0.0, 0.8, -0.7712, 0.8, 0.0, 0.8, -0.7712], "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": [0.00039542512968182564, -0.7842015624046326, 0.000573554658330977, -2.7542712688446045, -0.0033754974137991667, 1.9626408815383911, 0.016753191128373146, 0.8, 0.0, 0.8, -0.7712, 0.8, 0.0, 0.8, -0.7712], "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": [0.01182792242616415, -0.7845273613929749, 0.016428612172603607, -2.753354549407959, 0.010105759836733341, 1.9593926668167114, 0.03452443331480026, 0.8, 0.0, 0.8, -0.7712, 0.8, 0.0, 0.8, -0.7712], "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": [0.03886263445019722, -0.7825601696968079, 0.051723022013902664, -2.749521017074585, 0.03396221995353699, 1.9580858945846558, 0.06547319144010544, 0.8, 0.0, 0.8, -0.7712, 0.8, 0.0, 0.8, -0.7712], 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0.0007185037829913199, -2.7512829303741455, 0.0030571925453841686, 1.9641395807266235, 0.0168140958994627, 0.5865638695657254, 0.0, 0.5865638695657254, -0.5654475702613593, 0.5865638695657254, 0.0, 0.5865638695657254, -0.5654475702613593], "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": [-0.0017470832681283355, -0.7846068739891052, 0.0007160446257330477, -2.7512850761413574, 0.00301040499471128, 1.964133381843567, 0.01650100201368332, 0.45925108641386037, 0.0, 0.45925108641386037, -0.4427180473029614, 0.45925108641386037, 0.0, 0.45925108641386037, -0.4427180473029614], "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": [-0.0017269958043470979, -0.7846105098724365, 0.0007099701906554401, -2.7512869834899902, 0.00297898449935019, 1.9641289710998535, 0.01625126227736473, 0.33568283468484883, 0.0, 0.33568283468484883, -0.32359825263619424, 0.33568283468484883, 0.0, 0.33568283468484883, -0.32359825263619424], "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": [-0.0018077181885018945, -0.7844711542129517, 0.0007158299558795989, -2.7523632049560547, 0.0030158613808453083, 1.9641284942626953, 0.016648994758725166, 0.16343610286712648, 0.0, 0.16343610286712648, -0.15755240316390992, 0.16343610286712648, 0.0, 0.16343610286712648, -0.15755240316390992], "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": [-0.0018378875683993101, -0.7841277122497559, 0.0007219693507067859, -2.7528159618377686, 0.003024843754246831, 1.9641242027282715, 0.016767853870987892, 0.03986785113811493, 0.0, 0.03986785113811493, -0.03843260849714279, 0.03986785113811493, 0.0, 0.03986785113811493, -0.03843260849714279], "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": [-0.0018535609124228358, -0.784127414226532, 0.000723056320566684, -2.752849578857422, 0.00303166382946074, 1.9641269445419312, 0.016783995553851128, 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": [-0.0018695136532187462, -0.7841223478317261, 0.0007232118514366448, -2.752896785736084, 0.00302748940885067, 1.9641237258911133, 0.0167771577835083, 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": [-0.0018782453844323754, -0.7841313481330872, 0.0007269507623277605, -2.752927303314209, 0.003030704567208886, 1.9641259908676147, 0.01677772030234337, 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": [-0.001884783967398107, -0.7841261625289917, 0.0007225371082313359, -2.7529518604278564, 0.0030297262128442526, 1.9641351699829102, 0.01677740179002285, 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": [-0.0018897349946200848, -0.7841193079948425, 0.0007248215260915458, -2.7529702186584473, 0.0030292507726699114, 1.9641356468200684, 0.016781121492385864, 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": [-0.0018918990390375257, -0.7841187119483948, 0.0007237796089611948, -2.752981424331665, 0.0030312903691083193, 1.964128851890564, 0.016780642792582512, 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": [-0.001894154236651957, -0.7841106653213501, 0.0007279838901013136, -2.7530131340026855, 0.0030308542773127556, 1.964128017425537, 0.01677788235247135, 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": [-0.0018941907910630107, -0.7841126322746277, 0.0007262507569976151, -2.753039598464966, 0.0030307462438941, 1.9641283750534058, 0.016778701916337013, 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": [-0.0018961600726470351, -0.784116804599762, 0.000728525104932487, -2.7530527114868164, 0.0030308442655950785, 1.9641294479370117, 0.016778143122792244, 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": [-0.0018996840808540583, -0.7841171026229858, 0.0007279897108674049, -2.7530620098114014, 0.0030297781340777874, 1.9641294479370117, 0.016777262091636658, 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": [-0.0018974277190864086, -0.7841167449951172, 0.0007280188146978617, -2.7530789375305176, 0.003034063382074237, 1.9641318321228027, 0.016776809468865395, 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": [-0.0019025384681299329, -0.784112811088562, 0.0007257037796080112, -2.7530815601348877, 0.003032481763511896, 1.964137077331543, 0.016780592501163483, 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": [-0.0019022052874788642, -0.7841098308563232, 0.0007248316542245448, -2.7530770301818848, 0.0030288102570921183, 1.9641294479370117, 0.01677771843969822, 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]]}]}
diff --git a/rc-table30-v1__rc-franka/000043/meta.json b/rc-table30-v1__rc-franka/000043/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d8fc1ce532fdeabb304c96d78f1d5019d9bce51
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000043/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 85,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000043/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000043/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..912094a5ff89c28cc0a2fb46e153c56573cd2366
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000043/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279907066 -0.00499735853094 0.155440673507" quat="-0.192610300116 -0.653136798361 0.705244245496 0.197342719936" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000043/temporal.json b/rc-table30-v1__rc-franka/000043/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad598a6f725f17baee2fe8a25ad4b118a8158df2
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000043/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.00014217339048627764, -0.780379593372345, 0.0003145595546811819, -2.7573578357696533, -0.004952391609549522, 1.9548333883285522, -0.019040457904338837, 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": [-0.0001464134838897735, -0.7803830504417419, 0.00031681964173913, -2.757356643676758, -0.004953551571816206, 1.9548372030258179, -0.019044701009988785, 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": [-0.00014456536155194044, -0.7803817391395569, 0.0003158658219035715, -2.7573540210723877, -0.00495143560692668, 1.9548377990722656, -0.019040994346141815, 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": [-0.00014225589984562248, -0.7803823947906494, 0.0003190412244293839, -2.7573556900024414, -0.00495414063334465, 1.9548354148864746, -0.01904425583779812, 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": [-0.00014424430264625698, -0.7803824543952942, 0.00031463458435609937, -2.757356643676758, -0.004952697549015284, 1.9548373222351074, -0.01904420368373394, 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": [-0.00014535976515617222, -0.7803705930709839, 0.0003177470061928034, -2.7573695182800293, -0.0049528139643371105, 1.954814076423645, -0.019053177908062935, 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": [0.0003704979026224464, 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diff --git a/rc-table30-v1__rc-franka/000044/meta.json b/rc-table30-v1__rc-franka/000044/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9caa569172b4f67b2080a1b23e1f95a5c431268e
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000044/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 183,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000044/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000044/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b98383e0b80f8442113992471c7d81b122e46876
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000044/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279849948 -0.00499735978756 0.155440679313" quat="-0.192610307989 -0.653136798252 0.705244244374 0.197342716619" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000045/meta.json b/rc-table30-v1__rc-franka/000045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cf55e88916600cee3565436423f2bcd70241f60
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000045/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1006,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000045/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000045/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..61ee8fb42bd6748e813d1001a7b21f18eaf9b064
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000045/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405617869 0.00022443168521 0.176650139018" quat="-0.189077798637 -0.661456804334 0.706997287081 0.163949132732" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000045/temporal.json b/rc-table30-v1__rc-franka/000045/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..252747a1ddc071fb492d108c37c5805e2fb16310
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000045/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0005742089124396443, -0.7840337753295898, 0.00015885106404311955, -2.75307297706604, 0.0032578713726252317, 1.9641884565353394, 0.017007719725370407, 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": [0.0005715144798159599, -0.7840346097946167, 0.00015758357767481357, -2.753075122833252, 0.003258325392380357, 1.9641884565353394, 0.017010297626256943, 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": [0.0005716704181395471, -0.7840325236320496, 0.00015814122161827981, -2.7530789375305176, 0.0032580422703176737, 1.9641879796981812, 0.01700938120484352, 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": [0.0005764892557635903, -0.7840359210968018, 0.00016228707681875676, -2.753080368041992, 0.003260459750890732, 1.964191198348999, 0.017007824033498764, 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": [0.0005810315487906337, -0.7840409278869629, 0.00016221142141148448, -2.7530734539031982, 0.003257989650592208, 1.9641880989074707, 0.017008833587169647, 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": [0.0005820592050440609, -0.7840356230735779, 0.0001600774994585663, -2.7530837059020996, 0.0032599433325231075, 1.9641884565353394, 0.017009660601615906, 0.036123338341712954, 0.0, 0.036123338341712954, -0.034822898161411285, 0.036123338341712954, 0.0, 0.036123338341712954, -0.034822898161411285], "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": [0.0005752610159106553, -0.7840315699577332, 0.00015884815366007388, -2.753085136413574, 0.003263626014813781, 1.9641897678375244, 0.017009610310196877, 0.17841407954692842, 0.0, 0.17841407954692842, -0.171991172683239, 0.17841407954692842, 0.0, 0.17841407954692842, -0.171991172683239], "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": [0.0005668856902047992, -0.7840312719345093, 0.0001583289704285562, -2.7530765533447266, 0.0032601486891508102, 1.9641884565353394, 0.017011793330311775, 0.3169603452086449, 0.0, 0.3169603452086449, -0.3055497727811337, 0.3169603452086449, 0.0, 0.3169603452086449, -0.3055497727811337], "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": [0.0005736419116146863, -0.7840326428413391, 0.00015638944751117378, -2.7530786991119385, 0.0032597181852906942, 1.964188575744629, 0.017007360234856606, 0.49295153394341473, 0.0, 0.49295153394341473, -0.4752052787214518, 0.49295153394341473, 0.0, 0.49295153394341473, -0.4752052787214518], "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": [0.0005709631368517876, -0.7840341329574585, 0.00015999891911633313, -2.753080129623413, 0.0032613591756671667, 1.9641879796981812, 0.01700986549258232, 0.6202643170952797, 0.0, 0.6202643170952797, -0.5979348016798497, 0.6202643170952797, 0.0, 0.6202643170952797, -0.5979348016798497], "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": [0.0005795625620521605, -0.7840314507484436, 0.0001623956486582756, -2.753079891204834, 0.0032629200723022223, 1.9641846418380737, 0.017007866874337196, 0.747577090933919, 0.0, 0.747577090933919, -0.7206643156602979, 0.747577090933919, 0.0, 0.747577090933919, 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-0.7712], "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": [-0.02643754705786705, -0.7623066902160645, -0.03805137425661087, -2.7353649139404297, -0.022623207420110703, 1.9624532461166382, -0.012529348023235798, 0.8, 0.0, 0.8, -0.7712, 0.8, 0.0, 0.8, -0.7712], "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": [-0.04441151022911072, -0.7403969168663025, -0.06352692097425461, -2.720275402069092, -0.038800016045570374, 1.9649982452392578, -0.03404397889971733, 0.8, 0.0, 0.8, -0.7712, 0.8, 0.0, 0.8, -0.7712], "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": [-0.061020590364933014, -0.7163388133049011, -0.08857035636901855, -2.703486442565918, -0.05390465259552002, 1.9687620401382446, -0.055874332785606384, 0.8, 0.0, 0.8, -0.7712, 0.8, 0.0, 0.8, -0.7712], 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diff --git a/rc-table30-v1__rc-franka/000046/meta.json b/rc-table30-v1__rc-franka/000046/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2993c6d96e8d4c748de3544efa0dad1d5a045863
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000046/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 266,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000046/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000046/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cb0865db2033f4daea2a89207b938f3dfc7c9023
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000046/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870280028796 -0.00499735872057 0.155440686134" quat="-0.192610312953 -0.653136785633 0.705244253569 0.197342720679" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000046/temporal.json b/rc-table30-v1__rc-franka/000046/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..55c4a7f6b7e10ae4a5f2eaea96ac9750de6f4844
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000046/temporal.json
@@ -0,0 +1 @@
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diff --git a/rc-table30-v1__rc-franka/000047/meta.json b/rc-table30-v1__rc-franka/000047/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ded44804c18d50b5b06237191762354a882a6d0
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000047/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "press the pink, blue, and green buttons in sequence",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 1154,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000047/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000047/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..92b5d1e058825ecf1cfb05258643670ef31eedbf
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000047/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405565773 0.000224432001704 0.176650143797" quat="-0.189077804835 -0.661456810125 0.706997279655 0.163949134237" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000047/temporal.json b/rc-table30-v1__rc-franka/000047/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..5078c67b52d5402b97641934257959109be4aae5
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000047/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.00047040224308148026, -0.784195065498352, 0.0003985326620750129, -2.753892421722412, -0.0031309884507209063, 1.96310293674469, 0.016888471320271492, 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": [0.00047144893324002624, -0.7842010855674744, 0.00039819025550968945, -2.7538881301879883, -0.0031261807307600975, 1.9631025791168213, 0.01689373515546322, 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": [0.0004727689956780523, -0.7842085957527161, 0.0004020343767479062, -2.7538843154907227, -0.0031309491023421288, 1.963104009628296, 0.01689182221889496, 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": [0.00047585958964191377, -0.7841962575912476, 0.00039968316559679806, -2.7538859844207764, -0.003130498109385371, 1.963104486465454, 0.01688982918858528, 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": [0.0004727680643554777, -0.7841968536376953, 0.0003953379928134382, -2.7538716793060303, -0.003130938857793808, 1.9631022214889526, 0.016890011727809906, 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": [0.0004756214329972863, -0.7841935753822327, 0.00039828376611694694, -2.753877639770508, -0.003131427336484194, 1.9631015062332153, 0.01689714938402176, 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": [0.00047651815111748874, -0.784201443195343, 0.00039909916813485324, -2.7538890838623047, -0.003131057135760784, 1.9630950689315796, 0.016889892518520355, 0.1334801495075226, 0.0, 0.1334801495075226, -0.12867486412525178, 0.1334801495075226, 0.0, 0.1334801495075226, -0.12867486412525178], "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": [0.0004715399700216949, -0.7841983437538147, 0.00040075465221889317, -2.753896474838257, -0.003131461562588811, 1.9630945920944214, 0.01689010113477707, 0.275770927965641, 0.0, 0.275770927965641, -0.2658431745588779, 0.275770927965641, 0.0, 0.275770927965641, -0.2658431745588779], "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": [0.00047031030408106744, -0.7842084169387817, 0.00040088474634103477, -2.7538857460021973, -0.003132377052679658, 1.9630993604660034, 0.016894051805138588, 0.40682820528745656, 0.0, 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diff --git a/rc-table30-v1__rc-franka/000048/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000048/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b8b4069be9ef2d5f5fbf47e7dd042be9ffca9df8
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000048/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0717405833747 0.000224431342653 0.176650144892" quat="-0.189077804148 -0.661456794694 0.706997294373 0.163949133821" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.948584995209 -0.00319879944248 0.749806668178" quat="0.65741839352 0.210754912985 0.249300352269 0.679141190676" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.329736622988 -0.772565038466 0.615738419239" quat="0.893965847846 0.44172478435 -0.0251328174841 -0.0712223227777" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000049/meta.json b/rc-table30-v1__rc-franka/000049/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a452c5ba0ec5accdee0fc2b62103c586419cd236
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000049/meta.json
@@ -0,0 +1,65 @@
+{
+  "format_version": 8,
+  "prompt": "place all the clutter on the desk into the white box",
+  "mjcf_path": "mjcf/panda_2f85_no_mesh.xml",
+  "cameras": [
+    "main",
+    "side",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "pinch",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_silicone_pad",
+        "left_silicone_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "full_tree",
+    "skip_bodies": [
+      "gripper_center"
+    ]
+  },
+  "height": 480,
+  "width": 640,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "main": "ref_images/main.png",
+    "side": "ref_images/side.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "main": "gt/main.mp4",
+    "side": "gt/side.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-franka",
+    "source_repo_id": "rc-table30-v1/rc-franka",
+    "episode_index": 704,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "Panda Franka"
+  }
+}
diff --git a/rc-table30-v1__rc-franka/000049/mjcf/panda_2f85_no_mesh.xml b/rc-table30-v1__rc-franka/000049/mjcf/panda_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4fc294e758d882e199418550abddaafdb8bf38f1
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000049/mjcf/panda_2f85_no_mesh.xml
@@ -0,0 +1,177 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="panda_2f85_nomesh">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="panda">
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973" />
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87" />
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom" />
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6" />
+      <geom type="cylinder" size="0.06 0.1" pos="0 0 0.05" rgba="0.8 0.8 0.8 1" />
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169" />
+        <joint name="joint1" />
+        <geom type="capsule" size="0.05 0.08" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4" />
+          <joint name="joint2" range="-1.7628 1.7628" />
+          <geom type="capsule" size="0.04 0.14" pos="0 -0.14 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" />
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2" />
+            <geom type="capsule" size="0.04 0.07" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3" />
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom type="capsule" size="0.04 0.16" pos="0 0.16 0" quat="1 1 0 0" rgba="0.8 0.8 0.8 1" />
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4" />
+                <joint name="joint5" />
+                <geom type="capsule" size="0.035 0.05" pos="0 0 -0.04" rgba="0.8 0.8 0.8 1" />
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4" />
+                  <joint name="joint6" range="-0.0175 3.7525" />
+                  <geom type="capsule" size="0.035 0.04" pos="0.04 0 0" quat="1 0 1 0" rgba="0.8 0.8 0.8 1" />
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4" />
+                    <joint name="joint7" />
+                    <geom type="cylinder" size="0.04 0.04" pos="0 0 0.04" rgba="0.7 0.7 0.7 1" />
+                    <body name="base_mount" pos="0 0 0.107" childclass="2f85">
+                      <geom type="box" size="0.03 0.03 0.015" pos="0 0 0.01" rgba="0.2 0.2 0.2 1" />
+                      <body name="base" pos="0 0 0.0038" quat="0 0 0 1">
+                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                        <geom type="box" size="0.03 0.03 0.05" pos="0 0 0.05" rgba="0.2 0.2 0.2 1" />
+                        <body name="gripper_center" pos="0 0 0.145">
+                          <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        </body>
+                        <body name="right_driver" pos="0 0.0306011 0.054904">
+                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="right_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="right_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="right_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="right_spring_link" pos="0 0.0132 0.0609">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="right_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="right_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="right_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="right_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="right_pad1" />
+                              <geom class="pad_box2" name="right_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="right_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                          <joint name="left_driver_joint" class="driver" />
+                          <geom type="capsule" size="0.005 0.015" pos="0 0.015 0" quat="1 1 0 0" rgba="0.5 0.5 0.5 1" />
+                          <body name="left_coupler" pos="0 0.0315 -0.0041">
+                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                            <joint name="left_coupler_joint" class="coupler" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 0 0.012" rgba="0.2 0.2 0.2 1" />
+                          </body>
+                        </body>
+                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                          <joint name="left_spring_link_joint" class="spring_link" />
+                          <geom type="capsule" size="0.004 0.02" pos="0 0.018 0.02" rgba="0.2 0.2 0.2 1" />
+                          <body name="left_follower" pos="0 0.055 0.0375">
+                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                            <joint name="left_follower_joint" class="follower" />
+                            <geom type="capsule" size="0.004 0.012" pos="0 -0.008 0.012" rgba="0.2 0.2 0.2 1" />
+                            <body name="left_pad" pos="0 -0.0189 0.01352">
+                              <geom class="pad_box1" name="left_pad1" />
+                              <geom class="pad_box2" name="left_pad2" />
+                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                              <body name="left_silicone_pad">
+                                <geom type="box" size="0.011 0.003 0.018" pos="0 -0.003 0.018" rgba="0.2 0.2 0.2 1" />
+                              </body>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                    <camera name="wrist" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="-0.0870279867119 -0.00499735975047 0.15544067435" quat="-0.192610309263 -0.653136791642 0.705244251457 0.19734271194" />
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="main" resolution="640 480" sensorsize="640 480" focal="595.545959473 595.545959473" principal="320 240" pos="0.950035075057 -0.0462550893532 0.771967140238" quat="0.679145951482 0.214916353925 0.216636928391 0.667562864949" />
+      <camera name="side" resolution="640 480" sensorsize="640 480" focal="554.07043457 554.07043457" principal="320 240" pos="0.394081205072 -0.626616089926 0.75117457405" quat="0.932537740956 0.357244688711 -0.0300183865018 -0.0429940757818" />
+    </body>
+  </worldbody>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="panda" name="actuator1" joint="joint1" gainprm="4500" biasprm="0 -4500 -450" />
+    <general class="panda" name="actuator2" joint="joint2" gainprm="4500" biasprm="0 -4500 -450" ctrlrange="-1.7628 1.7628" />
+    <general class="panda" name="actuator3" joint="joint3" gainprm="3500" biasprm="0 -3500 -350" />
+    <general class="panda" name="actuator4" joint="joint4" gainprm="3500" biasprm="0 -3500 -350" ctrlrange="-3.0718 -0.0698" />
+    <general class="panda" name="actuator5" joint="joint5" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="panda" name="actuator6" joint="joint6" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" ctrlrange="-0.0175 3.7525" />
+    <general class="panda" name="actuator7" joint="joint7" gainprm="2000" biasprm="0 -2000 -200" forcerange="-12 12" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="0 0 0 -1.57079 0 1.57079 -0.7853 0 0 0 0 0 0 0 0" ctrl="0 0 0 -1.57079 0 1.57079 -0.7853 0" />
+  </keyframe>
+  <contact>
+    <exclude body1="link0" body2="link1" />
+    <exclude body1="base" body2="left_driver" />
+    <exclude body1="base" body2="right_driver" />
+    <exclude body1="base" body2="left_spring_link" />
+    <exclude body1="base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-franka/000049/temporal.json b/rc-table30-v1__rc-franka/000049/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..944f0685c76a546ec3f33746a49dfbf97c3a7724
--- /dev/null
+++ b/rc-table30-v1__rc-franka/000049/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0014994645025581121, -0.7807624936103821, 0.0015616421587765217, -2.7563059329986572, -0.004521772265434265, 1.9620329141616821, 0.017838694155216217, 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": [0.0014959403779357672, -0.7807605266571045, 0.0015576343284919858, -2.75630259513855, -0.004513168707489967, 1.9620343446731567, 0.017767250537872314, 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": [0.001496966346167028, -0.7807572484016418, 0.0015592107083648443, -2.756302833557129, -0.004506781697273254, 1.962032437324524, 0.017711644992232323, 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": [0.0014953548088669777, -0.7807608842849731, 0.0015563408378511667, -2.756304979324341, -0.004501985386013985, 1.9620333909988403, 0.017672421410679817, 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": [0.0014914904022589326, -0.7807601690292358, 0.0015574161661788821, -2.7563037872314453, -0.0044940137304365635, 1.9620332717895508, 0.01763303577899933, 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": [0.0014962292043492198, -0.7807605266571045, 0.0015553029952570796, -2.7563037872314453, -0.00449260463938117, 1.9620329141616821, 0.017611732706427574, 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": [0.0014926375588402152, 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-0.0021536489948630333, -2.6509199142456055, -0.004662977531552315, 1.9691139459609985, 0.017655832692980766, 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": [-0.00021068505884613842, -0.5813478231430054, -0.00426696939393878, -2.6057136058807373, -0.004735013470053673, 1.9753477573394775, 0.01765684224665165, 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": [-0.0009504496701993048, -0.5256258845329285, -0.006189619656652212, -2.5604217052459717, -0.004795965272933245, 1.981342077255249, 0.017660077661275864, 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": [-0.0016598895890638232, -0.47349679470062256, -0.008007071912288666, 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diff --git a/rc-table30-v1__rc-franka/episode_indices.txt b/rc-table30-v1__rc-franka/episode_indices.txt
new file mode 100644
index 0000000000000000000000000000000000000000..434e8eb87eabb594024fd98810d7a6e429ab1409
--- /dev/null
+++ b/rc-table30-v1__rc-franka/episode_indices.txt
@@ -0,0 +1,50 @@
+133
+895
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+148
+271
+65
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+850
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diff --git a/rc-table30-v1__rc-ur5/000001/meta.json b/rc-table30-v1__rc-ur5/000001/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f94a2517fe11529816d59c5d94ca5450a8b5e4e
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000001/meta.json
@@ -0,0 +1,83 @@
+{
+  "format_version": 8,
+  "prompt": "place the white paper on the shelf into the shredder for shredding",
+  "mjcf_path": "mjcf/ur5_2f85_no_mesh.xml",
+  "cameras": [
+    "global",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_pad",
+        "left_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "base",
+        "shoulder_link",
+        "upper_arm_link",
+        "forearm_link",
+        "wrist_1_link",
+        "wrist_2_link",
+        "wrist_3_link",
+        "base_mount",
+        "gripper_base",
+        "right_driver",
+        "right_coupler",
+        "right_spring_link",
+        "right_follower",
+        "right_pad",
+        "left_driver",
+        "left_coupler",
+        "left_spring_link",
+        "left_follower",
+        "left_pad"
+      ]
+    ],
+    "skip_bodies": []
+  },
+  "height": 720,
+  "width": 1280,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-ur5",
+    "source_repo_id": "rc-table30-v1/rc-ur5",
+    "episode_index": 2721,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "UR5"
+  }
+}
diff --git a/rc-table30-v1__rc-ur5/000001/mjcf/ur5_2f85_no_mesh.xml b/rc-table30-v1__rc-ur5/000001/mjcf/ur5_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8ae5f61a263bda814cf23479952bbc9d97dad18a
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000001/mjcf/ur5_2f85_no_mesh.xml
@@ -0,0 +1,187 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ur5e_2f85">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2" />
+    <body name="base" quat="1 0 0 0" childclass="ur5e" pos="0 0 0">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
+      <geom type="cylinder" size="0.075 0.025" pos="0 0 0.025" rgba="0.033 0.033 0.033 1" />
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
+        <geom type="cylinder" size="0.06 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+        <geom type="capsule" size="0.06 0.06" pos="0 0 -0.04" group="3" />
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
+          <joint name="shoulder_lift_joint" class="size3" />
+          <geom type="cylinder" size="0.06 0.06" pos="0 0 0" rgba="0.278 0.278 0.278 1" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+          <geom type="capsule" size="0.06 0.06" pos="0 -0.04 0" quat="1 1 0 0" group="3" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" group="3" />
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
+            <joint name="elbow_joint" class="size3_limited" />
+            <geom type="cylinder" size="0.055 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+            <geom type="capsule" size="0.055 0.06" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" group="3" />
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
+              <joint name="wrist_1_joint" class="size1" />
+              <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+              <geom type="capsule" size="0.04 0.07" pos="0 0.05 0" quat="1 1 0 0" group="3" />
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+                <geom type="capsule" size="0.04 0.06" pos="0 0 0.04" group="3" />
+                <geom type="capsule" size="0.04 0.04" pos="0 0.02 0.1" quat="1 1 0 0" group="3" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom type="cylinder" size="0.04 0.005" pos="0 0.06 0" quat="1 1 0 0" rgba="0.82 0.82 0.82 1" />
+                  <geom type="cylinder" size="0.04 0.02" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="2f85">
+                    <geom type="cylinder" size="0.038 0.0035" pos="0 0 0.007" rgba="0.149 0.149 0.149 1" />
+                    <body name="gripper_base" pos="0 0 0.0108" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                      <geom type="box" size="0.03 0.025 0.025" pos="0 0 0.03" rgba="0.149 0.149 0.149 1" />
+                      <body name="gripper_center" pos="0 0 0.145">
+                        <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        <site name="gripper_center" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                      </body>
+                      <body name="right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="right_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="right_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="right_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="right_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1" />
+                            <geom class="pad_box2" name="right_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                      <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="left_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="left_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="left_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="left_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1" />
+                            <geom class="pad_box2" name="left_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <camera name="wrist" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="639 359" pos="-0.0144522715777 0.141198537206 0.067154085437" quat="0.8776829987 0.478980305458 0.0127827082975 -0.00932861965773" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="640 360" pos="-1.34731578765 0.207841913068 0.868135985703" quat="0.5658505634 0.287041625612 -0.387192866112 -0.668955850186" />
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="gripper_base" body2="left_driver" />
+    <exclude body1="gripper_base" body2="right_driver" />
+    <exclude body1="gripper_base" body2="left_spring_link" />
+    <exclude body1="gripper_base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0" />
+  </keyframe>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-ur5/000001/temporal.json b/rc-table30-v1__rc-ur5/000001/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..384dc7171a969f57772f043fc51d5b399b013e9f
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000001/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [7.987022399902344e-06, -1.5708204507827759, -1.570806622505188, -1.5707744359970093, 1.570802092552185, 0.06104331091046333, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.036248985677957535, -1.561583399772644, -1.5799394845962524, -1.5708361864089966, 1.5706223249435425, 0.09758085757493973, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.05580229312181473, -1.5574653148651123, -1.5840132236480713, -1.5708638429641724, 1.5708341598510742, 0.11672059446573257, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.07060372084379196, -1.5544692277908325, -1.5870983600616455, -1.5708380937576294, 1.5707740783691406, 0.1317177563905716, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.0793403759598732, -1.552846074104309, -1.5885705947875977, -1.570879578590393, 1.5708186626434326, 0.1403084248304367, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.10722208768129349, -1.5478308200836182, -1.5935364961624146, -1.5709677934646606, 1.5708341598510742, 0.16820120811462402, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.11571070551872253, -1.5464733839035034, -1.594964623451233, -1.5710159540176392, 1.570798397064209, 0.17671677470207214, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.13288117945194244, -1.5442297458648682, -1.5971378087997437, -1.571041226387024, 1.5708330869674683, 0.19396445155143738, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.16947069764137268, -1.5404056310653687, -1.6007667779922485, -1.5711995363235474, 1.570791244506836, 0.23052725195884705, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.1951857954263687, -1.5386695861816406, -1.6025402545928955, -1.5712367296218872, 1.5708175897598267, 0.2562701106071472, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": 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diff --git a/rc-table30-v1__rc-ur5/000005/meta.json b/rc-table30-v1__rc-ur5/000005/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae89b92533d59d91fbf811de2dd11e3d81f2f63a
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000005/meta.json
@@ -0,0 +1,83 @@
+{
+  "format_version": 8,
+  "prompt": "stack the yellow block on top of the orange block",
+  "mjcf_path": "mjcf/ur5_2f85_no_mesh.xml",
+  "cameras": [
+    "global",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_pad",
+        "left_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "base",
+        "shoulder_link",
+        "upper_arm_link",
+        "forearm_link",
+        "wrist_1_link",
+        "wrist_2_link",
+        "wrist_3_link",
+        "base_mount",
+        "gripper_base",
+        "right_driver",
+        "right_coupler",
+        "right_spring_link",
+        "right_follower",
+        "right_pad",
+        "left_driver",
+        "left_coupler",
+        "left_spring_link",
+        "left_follower",
+        "left_pad"
+      ]
+    ],
+    "skip_bodies": []
+  },
+  "height": 720,
+  "width": 1280,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-ur5",
+    "source_repo_id": "rc-table30-v1/rc-ur5",
+    "episode_index": 4139,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "UR5"
+  }
+}
diff --git a/rc-table30-v1__rc-ur5/000005/mjcf/ur5_2f85_no_mesh.xml b/rc-table30-v1__rc-ur5/000005/mjcf/ur5_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a0420321a8e6840bad937dd60247d818f3d89078
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000005/mjcf/ur5_2f85_no_mesh.xml
@@ -0,0 +1,187 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ur5e_2f85">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2" />
+    <body name="base" quat="1 0 0 0" childclass="ur5e" pos="0 0 0">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
+      <geom type="cylinder" size="0.075 0.025" pos="0 0 0.025" rgba="0.033 0.033 0.033 1" />
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
+        <geom type="cylinder" size="0.06 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+        <geom type="capsule" size="0.06 0.06" pos="0 0 -0.04" group="3" />
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
+          <joint name="shoulder_lift_joint" class="size3" />
+          <geom type="cylinder" size="0.06 0.06" pos="0 0 0" rgba="0.278 0.278 0.278 1" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+          <geom type="capsule" size="0.06 0.06" pos="0 -0.04 0" quat="1 1 0 0" group="3" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" group="3" />
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
+            <joint name="elbow_joint" class="size3_limited" />
+            <geom type="cylinder" size="0.055 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+            <geom type="capsule" size="0.055 0.06" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" group="3" />
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
+              <joint name="wrist_1_joint" class="size1" />
+              <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+              <geom type="capsule" size="0.04 0.07" pos="0 0.05 0" quat="1 1 0 0" group="3" />
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+                <geom type="capsule" size="0.04 0.06" pos="0 0 0.04" group="3" />
+                <geom type="capsule" size="0.04 0.04" pos="0 0.02 0.1" quat="1 1 0 0" group="3" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom type="cylinder" size="0.04 0.005" pos="0 0.06 0" quat="1 1 0 0" rgba="0.82 0.82 0.82 1" />
+                  <geom type="cylinder" size="0.04 0.02" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="2f85">
+                    <geom type="cylinder" size="0.038 0.0035" pos="0 0 0.007" rgba="0.149 0.149 0.149 1" />
+                    <body name="gripper_base" pos="0 0 0.0108" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                      <geom type="box" size="0.03 0.025 0.025" pos="0 0 0.03" rgba="0.149 0.149 0.149 1" />
+                      <body name="gripper_center" pos="0 0 0.145">
+                        <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        <site name="gripper_center" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                      </body>
+                      <body name="right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="right_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="right_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="right_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="right_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1" />
+                            <geom class="pad_box2" name="right_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                      <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="left_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="left_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="left_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="left_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1" />
+                            <geom class="pad_box2" name="left_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <camera name="wrist" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="639 359" pos="-0.0144522748948 0.141198542773 0.0671541014709" quat="0.877682993746 0.478980314473 0.0127827094088 -0.00932862138702" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="640 360" pos="-1.34731578765 0.207841913068 0.868135985703" quat="0.5658505634 0.287041625612 -0.387192866112 -0.668955850186" />
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="gripper_base" body2="left_driver" />
+    <exclude body1="gripper_base" body2="right_driver" />
+    <exclude body1="gripper_base" body2="left_spring_link" />
+    <exclude body1="gripper_base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0" />
+  </keyframe>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-ur5/000005/temporal.json b/rc-table30-v1__rc-ur5/000005/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..c61fe5dbe02c9f51b58a5f318db36a1808374e90
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000005/temporal.json
@@ -0,0 +1 @@
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[0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.010360542684793472, -1.8585268259048462, -1.3019644021987915, -1.551566243171692, 1.570777416229248, 0.7410033941268921, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-0.008988205343484879, -1.8204046487808228, -1.3375811576843262, -1.554167628288269, 1.5707775354385376, 0.6509122252464294, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-0.007878605276346207, -1.7892042398452759, -1.3667936325073242, -1.5563400983810425, 1.5707894563674927, 0.5771940350532532, 0.009411775364595344, 0.0, 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0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.00482160272076726, -1.7044779062271118, -1.4460275173187256, -1.5619046688079834, 1.570798397064209, 0.3770505487918854, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-0.004091565031558275, -1.684118390083313, -1.4648535251617432, -1.5631886720657349, 1.5707859992980957, 0.32892534136772156, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-0.0024274031165987253, -1.6386557817459106, -1.507523775100708, -1.5662527084350586, 1.5707894563674927, 0.2214227020740509, 0.009411775364595344, 0.0, 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1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [8.015679668460507e-06, -1.570895791053772, -1.5707366466522217, -1.5707906484603882, 1.570798397064209, 0.061098337173461914, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [1.5120258467504755e-05, -1.5708204507827759, -1.570776104927063, -1.5707939863204956, 1.570798397064209, 0.06112101674079895, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-4.116689069633139e-06, -1.5708085298538208, -1.5707520246505737, -1.5708361864089966, 1.5708136558532715, 0.061101946979761124, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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]]}]}
diff --git a/rc-table30-v1__rc-ur5/000007/mjcf/ur5_2f85_no_mesh.xml b/rc-table30-v1__rc-ur5/000007/mjcf/ur5_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..80af700de27724054934ab81dd5afa3fedd873a4
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000007/mjcf/ur5_2f85_no_mesh.xml
@@ -0,0 +1,187 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ur5e_2f85">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2" />
+    <body name="base" quat="1 0 0 0" childclass="ur5e" pos="0 0 0">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
+      <geom type="cylinder" size="0.075 0.025" pos="0 0 0.025" rgba="0.033 0.033 0.033 1" />
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
+        <geom type="cylinder" size="0.06 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+        <geom type="capsule" size="0.06 0.06" pos="0 0 -0.04" group="3" />
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
+          <joint name="shoulder_lift_joint" class="size3" />
+          <geom type="cylinder" size="0.06 0.06" pos="0 0 0" rgba="0.278 0.278 0.278 1" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+          <geom type="capsule" size="0.06 0.06" pos="0 -0.04 0" quat="1 1 0 0" group="3" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" group="3" />
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
+            <joint name="elbow_joint" class="size3_limited" />
+            <geom type="cylinder" size="0.055 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+            <geom type="capsule" size="0.055 0.06" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" group="3" />
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
+              <joint name="wrist_1_joint" class="size1" />
+              <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+              <geom type="capsule" size="0.04 0.07" pos="0 0.05 0" quat="1 1 0 0" group="3" />
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+                <geom type="capsule" size="0.04 0.06" pos="0 0 0.04" group="3" />
+                <geom type="capsule" size="0.04 0.04" pos="0 0.02 0.1" quat="1 1 0 0" group="3" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom type="cylinder" size="0.04 0.005" pos="0 0.06 0" quat="1 1 0 0" rgba="0.82 0.82 0.82 1" />
+                  <geom type="cylinder" size="0.04 0.02" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="2f85">
+                    <geom type="cylinder" size="0.038 0.0035" pos="0 0 0.007" rgba="0.149 0.149 0.149 1" />
+                    <body name="gripper_base" pos="0 0 0.0108" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                      <geom type="box" size="0.03 0.025 0.025" pos="0 0 0.03" rgba="0.149 0.149 0.149 1" />
+                      <body name="gripper_center" pos="0 0 0.145">
+                        <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        <site name="gripper_center" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                      </body>
+                      <body name="right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="right_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="right_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="right_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="right_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1" />
+                            <geom class="pad_box2" name="right_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                      <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="left_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="left_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="left_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="left_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1" />
+                            <geom class="pad_box2" name="left_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <camera name="wrist" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="639 359" pos="-0.0144522768226 0.141198541755 0.0671540648" quat="0.877682994385 0.478980313316 0.0127827091164 -0.0093286210745" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="640 360" pos="-1.34731578765 0.207841913068 0.868135985703" quat="0.5658505634 0.287041625612 -0.387192866112 -0.668955850186" />
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="gripper_base" body2="left_driver" />
+    <exclude body1="gripper_base" body2="right_driver" />
+    <exclude body1="gripper_base" body2="left_spring_link" />
+    <exclude body1="gripper_base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0" />
+  </keyframe>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-ur5/000007/temporal.json b/rc-table30-v1__rc-ur5/000007/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ef8532e594dbee5f8334c8688d40a665d3f08dd
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000007/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-1.1269245987932663e-05, -1.5708051919937134, -1.5707911252975464, -1.570797085762024, 1.5707823038101196, 0.061098337173461914, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [1.992216130020097e-05, -1.5708204507827759, -1.570799708366394, -1.5708123445510864, 1.5708138942718506, 0.061098337173461914, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [4.413114766066428e-06, -1.5708051919937134, -1.570796251296997, -1.5708280801773071, 1.5707823038101196, 0.061098337173461914, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-3.177324470016174e-05, -1.5729213953018188, -1.5686688423156738, -1.5707406997680664, 1.5707931518554688, 0.06106727197766304, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-0.00017530123295728117, -1.593161702156067, -1.5494897365570068, -1.5711742639541626, 1.5708175897598267, 0.06097817420959473, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 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0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-0.001197640085592866, -1.7076822519302368, -1.4261043071746826, -1.5784589052200317, 1.570766806602478, 0.05987202003598213, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-0.0011652151588350534, -1.7248378992080688, -1.4070360660552979, -1.5805655717849731, 1.5707823038101196, 0.05988393351435661, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 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0.009411775364595344, -0.009072951451469911], "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": [3.5415650927461684e-05, -1.5707848072052002, -1.5708082914352417, -1.570809006690979, 1.570798397064209, 0.06105518341064453, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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]]}]}
diff --git a/rc-table30-v1__rc-ur5/000009/meta.json b/rc-table30-v1__rc-ur5/000009/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1746fff6b63311493fffbaffca50ff7ef80e0bf
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000009/meta.json
@@ -0,0 +1,83 @@
+{
+  "format_version": 8,
+  "prompt": "place the three plates onto the plate rack one by one",
+  "mjcf_path": "mjcf/ur5_2f85_no_mesh.xml",
+  "cameras": [
+    "global",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_pad",
+        "left_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "base",
+        "shoulder_link",
+        "upper_arm_link",
+        "forearm_link",
+        "wrist_1_link",
+        "wrist_2_link",
+        "wrist_3_link",
+        "base_mount",
+        "gripper_base",
+        "right_driver",
+        "right_coupler",
+        "right_spring_link",
+        "right_follower",
+        "right_pad",
+        "left_driver",
+        "left_coupler",
+        "left_spring_link",
+        "left_follower",
+        "left_pad"
+      ]
+    ],
+    "skip_bodies": []
+  },
+  "height": 720,
+  "width": 1280,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-ur5",
+    "source_repo_id": "rc-table30-v1/rc-ur5",
+    "episode_index": 1811,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "UR5"
+  }
+}
diff --git a/rc-table30-v1__rc-ur5/000009/mjcf/ur5_2f85_no_mesh.xml b/rc-table30-v1__rc-ur5/000009/mjcf/ur5_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..92ab83df4e9f2c8c8c9e7e9fbeb784bf650000d7
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000009/mjcf/ur5_2f85_no_mesh.xml
@@ -0,0 +1,187 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ur5e_2f85">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2" />
+    <body name="base" quat="1 0 0 0" childclass="ur5e" pos="0 0 0">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
+      <geom type="cylinder" size="0.075 0.025" pos="0 0 0.025" rgba="0.033 0.033 0.033 1" />
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
+        <geom type="cylinder" size="0.06 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+        <geom type="capsule" size="0.06 0.06" pos="0 0 -0.04" group="3" />
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
+          <joint name="shoulder_lift_joint" class="size3" />
+          <geom type="cylinder" size="0.06 0.06" pos="0 0 0" rgba="0.278 0.278 0.278 1" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+          <geom type="capsule" size="0.06 0.06" pos="0 -0.04 0" quat="1 1 0 0" group="3" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" group="3" />
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
+            <joint name="elbow_joint" class="size3_limited" />
+            <geom type="cylinder" size="0.055 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+            <geom type="capsule" size="0.055 0.06" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" group="3" />
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
+              <joint name="wrist_1_joint" class="size1" />
+              <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+              <geom type="capsule" size="0.04 0.07" pos="0 0.05 0" quat="1 1 0 0" group="3" />
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+                <geom type="capsule" size="0.04 0.06" pos="0 0 0.04" group="3" />
+                <geom type="capsule" size="0.04 0.04" pos="0 0.02 0.1" quat="1 1 0 0" group="3" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom type="cylinder" size="0.04 0.005" pos="0 0.06 0" quat="1 1 0 0" rgba="0.82 0.82 0.82 1" />
+                  <geom type="cylinder" size="0.04 0.02" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="2f85">
+                    <geom type="cylinder" size="0.038 0.0035" pos="0 0 0.007" rgba="0.149 0.149 0.149 1" />
+                    <body name="gripper_base" pos="0 0 0.0108" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                      <geom type="box" size="0.03 0.025 0.025" pos="0 0 0.03" rgba="0.149 0.149 0.149 1" />
+                      <body name="gripper_center" pos="0 0 0.145">
+                        <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        <site name="gripper_center" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                      </body>
+                      <body name="right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="right_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="right_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="right_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="right_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1" />
+                            <geom class="pad_box2" name="right_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                      <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="left_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="left_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="left_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="left_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1" />
+                            <geom class="pad_box2" name="left_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <camera name="wrist" resolution="1280 720" sensorsize="1280 720" focal="637.498901367 637.498901367" principal="639 359" pos="-0.0144522787208 0.141198527904 0.0671540844872" quat="0.877682998004 0.478980306717 0.0127827078789 -0.00932862107028" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="1280 720" sensorsize="1280 720" focal="637.498901367 637.498901367" principal="640 360" pos="-1.16663044588 0.137814518102 0.919138759607" quat="0.579314446927 0.270168247701 -0.311931686338 -0.702924258063" />
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="gripper_base" body2="left_driver" />
+    <exclude body1="gripper_base" body2="right_driver" />
+    <exclude body1="gripper_base" body2="left_spring_link" />
+    <exclude body1="gripper_base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0" />
+  </keyframe>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-ur5/000009/temporal.json b/rc-table30-v1__rc-ur5/000009/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfe527d97907de722d9922572f888c43f51f1c30
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000009/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-1.1746083146135788e-05, -1.5707601308822632, -1.570802092552185, -1.5707725286483765, 1.570855975151062, 0.0610307902097702, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-2.3667013010708615e-05, -1.57074773311615, -1.5708259344100952, -1.5708082914352417, 1.5708439350128174, 0.061042774468660355, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.00824552122503519, -1.5683015584945679, -1.5733321905136108, -1.5709642171859741, 1.5706762075424194, 0.0699867531657219, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.038637515157461166, -1.5609968900680542, -1.5803364515304565, -1.5706762075424194, 1.5705204010009766, 0.10029036551713943, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.06551738828420639, -1.5550483465194702, -1.5861891508102417, -1.5706762075424194, 1.570867896080017, 0.12677399814128876, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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, 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-0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.23241494596004486, -1.5351618528366089, -1.6060012578964233, -1.5713471174240112, 1.5707839727401733, 0.2940123677253723, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.25583961606025696, -1.5348981618881226, -1.6062291860580444, -1.5713590383529663, 1.570807933807373, 0.3175213038921356, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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, 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1.0]]}, {"state": [0.3906617760658264, -1.5469163656234741, -1.5946801900863647, -1.5709160566329956, 1.5704724788665771, 0.4513603746891022, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.38820576667785645, -1.559857726097107, -1.582159399986267, -1.5706886053085327, 1.5707001686096191, 0.4494211673736572, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.3875350058078766, -1.5655425786972046, -1.5765942335128784, -1.5704368352890015, 1.570736050605774, 0.44859540462493896, 0.009411775364595344, 0.0, 0.009411775364595344, 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diff --git a/rc-table30-v1__rc-ur5/000011/meta.json b/rc-table30-v1__rc-ur5/000011/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54089b55cdde8da3e5e66b36b21a3532c9748038
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000011/meta.json
@@ -0,0 +1,83 @@
+{
+  "format_version": 8,
+  "prompt": "place the three plates onto the plate rack one by one",
+  "mjcf_path": "mjcf/ur5_2f85_no_mesh.xml",
+  "cameras": [
+    "global",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_pad",
+        "left_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "base",
+        "shoulder_link",
+        "upper_arm_link",
+        "forearm_link",
+        "wrist_1_link",
+        "wrist_2_link",
+        "wrist_3_link",
+        "base_mount",
+        "gripper_base",
+        "right_driver",
+        "right_coupler",
+        "right_spring_link",
+        "right_follower",
+        "right_pad",
+        "left_driver",
+        "left_coupler",
+        "left_spring_link",
+        "left_follower",
+        "left_pad"
+      ]
+    ],
+    "skip_bodies": []
+  },
+  "height": 720,
+  "width": 1280,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-ur5",
+    "source_repo_id": "rc-table30-v1/rc-ur5",
+    "episode_index": 1606,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "UR5"
+  }
+}
diff --git a/rc-table30-v1__rc-ur5/000011/mjcf/ur5_2f85_no_mesh.xml b/rc-table30-v1__rc-ur5/000011/mjcf/ur5_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6fa57630e45d12dbfcdbc6eca4f39e6f6e03f189
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000011/mjcf/ur5_2f85_no_mesh.xml
@@ -0,0 +1,187 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ur5e_2f85">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2" />
+    <body name="base" quat="1 0 0 0" childclass="ur5e" pos="0 0 0">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
+      <geom type="cylinder" size="0.075 0.025" pos="0 0 0.025" rgba="0.033 0.033 0.033 1" />
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
+        <geom type="cylinder" size="0.06 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+        <geom type="capsule" size="0.06 0.06" pos="0 0 -0.04" group="3" />
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
+          <joint name="shoulder_lift_joint" class="size3" />
+          <geom type="cylinder" size="0.06 0.06" pos="0 0 0" rgba="0.278 0.278 0.278 1" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+          <geom type="capsule" size="0.06 0.06" pos="0 -0.04 0" quat="1 1 0 0" group="3" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" group="3" />
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
+            <joint name="elbow_joint" class="size3_limited" />
+            <geom type="cylinder" size="0.055 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+            <geom type="capsule" size="0.055 0.06" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" group="3" />
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
+              <joint name="wrist_1_joint" class="size1" />
+              <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+              <geom type="capsule" size="0.04 0.07" pos="0 0.05 0" quat="1 1 0 0" group="3" />
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+                <geom type="capsule" size="0.04 0.06" pos="0 0 0.04" group="3" />
+                <geom type="capsule" size="0.04 0.04" pos="0 0.02 0.1" quat="1 1 0 0" group="3" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom type="cylinder" size="0.04 0.005" pos="0 0.06 0" quat="1 1 0 0" rgba="0.82 0.82 0.82 1" />
+                  <geom type="cylinder" size="0.04 0.02" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="2f85">
+                    <geom type="cylinder" size="0.038 0.0035" pos="0 0 0.007" rgba="0.149 0.149 0.149 1" />
+                    <body name="gripper_base" pos="0 0 0.0108" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                      <geom type="box" size="0.03 0.025 0.025" pos="0 0 0.03" rgba="0.149 0.149 0.149 1" />
+                      <body name="gripper_center" pos="0 0 0.145">
+                        <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        <site name="gripper_center" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                      </body>
+                      <body name="right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="right_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="right_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="right_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="right_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1" />
+                            <geom class="pad_box2" name="right_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                      <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="left_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="left_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="left_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="left_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1" />
+                            <geom class="pad_box2" name="left_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <camera name="wrist" resolution="1280 720" sensorsize="1280 720" focal="637.498901367 637.498901367" principal="639 359" pos="-0.0144522699772 0.14119850639 0.0671541182536" quat="0.877682996269 0.478980309815 0.0127827099943 -0.00932862232108" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="1280 720" sensorsize="1280 720" focal="637.498901367 637.498901367" principal="640 360" pos="-1.16663044588 0.137814518102 0.919138759607" quat="0.579314446927 0.270168247701 -0.311931686338 -0.702924258063" />
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="gripper_base" body2="left_driver" />
+    <exclude body1="gripper_base" body2="right_driver" />
+    <exclude body1="gripper_base" body2="left_spring_link" />
+    <exclude body1="gripper_base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0" />
+  </keyframe>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-ur5/000011/temporal.json b/rc-table30-v1__rc-ur5/000011/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe9916a0f397dcc484f48a7b59fcc48300b9d8b5
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000011/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [3.5952674807049334e-05, -1.5708321332931519, -1.570705771446228, -1.5708082914352417, 1.5707600116729736, 0.061114680022001266, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [3.5952674807049334e-05, -1.5707963705062866, -1.5707539319992065, -1.5708321332931519, 1.5707480907440186, 0.06107872724533081, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [8.426408021477982e-05, -1.5926254987716675, -1.5492147207260132, -1.570952296257019, 1.5707241296768188, 0.061042774468660355, 0.009411775364595344, 0.0, 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diff --git a/rc-table30-v1__rc-ur5/000013/temporal.json b/rc-table30-v1__rc-ur5/000013/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..93a0d78abc1ebd97a250d34925832c40a9ad4f2f
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000013/temporal.json
@@ -0,0 +1 @@
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0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.007814089767634869, -1.5717438459396362, -1.5715335607528687, -1.5565069913864136, 1.561384677886963, 0.07919400930404663, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.0003239485959056765, -1.5709885358810425, -1.5709937810897827, -1.5701974630355835, 1.5703761577606201, 0.06186893582344055, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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]]}]}
diff --git a/rc-table30-v1__rc-ur5/000015/meta.json b/rc-table30-v1__rc-ur5/000015/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91b89632534e3a04aef8b3883c17411171775581
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000015/meta.json
@@ -0,0 +1,83 @@
+{
+  "format_version": 8,
+  "prompt": "place the white paper on the shelf into the shredder for shredding",
+  "mjcf_path": "mjcf/ur5_2f85_no_mesh.xml",
+  "cameras": [
+    "global",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_pad",
+        "left_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "base",
+        "shoulder_link",
+        "upper_arm_link",
+        "forearm_link",
+        "wrist_1_link",
+        "wrist_2_link",
+        "wrist_3_link",
+        "base_mount",
+        "gripper_base",
+        "right_driver",
+        "right_coupler",
+        "right_spring_link",
+        "right_follower",
+        "right_pad",
+        "left_driver",
+        "left_coupler",
+        "left_spring_link",
+        "left_follower",
+        "left_pad"
+      ]
+    ],
+    "skip_bodies": []
+  },
+  "height": 720,
+  "width": 1280,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-ur5",
+    "source_repo_id": "rc-table30-v1/rc-ur5",
+    "episode_index": 2181,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "UR5"
+  }
+}
diff --git a/rc-table30-v1__rc-ur5/000015/mjcf/ur5_2f85_no_mesh.xml b/rc-table30-v1__rc-ur5/000015/mjcf/ur5_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3146dcd40a36b28ba392cd7366584beb39b0ef33
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000015/mjcf/ur5_2f85_no_mesh.xml
@@ -0,0 +1,187 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ur5e_2f85">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2" />
+    <body name="base" quat="1 0 0 0" childclass="ur5e" pos="0 0 0">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
+      <geom type="cylinder" size="0.075 0.025" pos="0 0 0.025" rgba="0.033 0.033 0.033 1" />
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
+        <geom type="cylinder" size="0.06 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+        <geom type="capsule" size="0.06 0.06" pos="0 0 -0.04" group="3" />
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
+          <joint name="shoulder_lift_joint" class="size3" />
+          <geom type="cylinder" size="0.06 0.06" pos="0 0 0" rgba="0.278 0.278 0.278 1" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+          <geom type="capsule" size="0.06 0.06" pos="0 -0.04 0" quat="1 1 0 0" group="3" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" group="3" />
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
+            <joint name="elbow_joint" class="size3_limited" />
+            <geom type="cylinder" size="0.055 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+            <geom type="capsule" size="0.055 0.06" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" group="3" />
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
+              <joint name="wrist_1_joint" class="size1" />
+              <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+              <geom type="capsule" size="0.04 0.07" pos="0 0.05 0" quat="1 1 0 0" group="3" />
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+                <geom type="capsule" size="0.04 0.06" pos="0 0 0.04" group="3" />
+                <geom type="capsule" size="0.04 0.04" pos="0 0.02 0.1" quat="1 1 0 0" group="3" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom type="cylinder" size="0.04 0.005" pos="0 0.06 0" quat="1 1 0 0" rgba="0.82 0.82 0.82 1" />
+                  <geom type="cylinder" size="0.04 0.02" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="2f85">
+                    <geom type="cylinder" size="0.038 0.0035" pos="0 0 0.007" rgba="0.149 0.149 0.149 1" />
+                    <body name="gripper_base" pos="0 0 0.0108" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                      <geom type="box" size="0.03 0.025 0.025" pos="0 0 0.03" rgba="0.149 0.149 0.149 1" />
+                      <body name="gripper_center" pos="0 0 0.145">
+                        <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        <site name="gripper_center" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                      </body>
+                      <body name="right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="right_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="right_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="right_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="right_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1" />
+                            <geom class="pad_box2" name="right_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                      <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="left_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="left_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="left_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="left_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1" />
+                            <geom class="pad_box2" name="left_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <camera name="wrist" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="639 359" pos="-0.0144522750511 0.141198561021 0.0671540788529" quat="0.877683000066 0.478980302973 0.0127827071733 -0.00932862027746" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="640 360" pos="-1.34731578765 0.207841913068 0.868135985703" quat="0.5658505634 0.287041625612 -0.387192866112 -0.668955850186" />
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="gripper_base" body2="left_driver" />
+    <exclude body1="gripper_base" body2="right_driver" />
+    <exclude body1="gripper_base" body2="left_spring_link" />
+    <exclude body1="gripper_base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0" />
+  </keyframe>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-ur5/000015/temporal.json b/rc-table30-v1__rc-ur5/000015/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..798383166a56816d6f7a731f342f43009f9582df
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000015/temporal.json
@@ -0,0 +1 @@
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0.0, 0.009411775364595344, -0.009072951451469911], "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": [1.1435644410084933e-05, -1.5709115266799927, -1.5707330703735352, -1.570797085762024, 1.570810317993164, 0.06106233596801758, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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]]}]}
diff --git a/rc-table30-v1__rc-ur5/000017/mjcf/ur5_2f85_no_mesh.xml b/rc-table30-v1__rc-ur5/000017/mjcf/ur5_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..242248cba1cee4a3c441f192229ed342c0391edc
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000017/mjcf/ur5_2f85_no_mesh.xml
@@ -0,0 +1,187 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ur5e_2f85">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2" />
+    <body name="base" quat="1 0 0 0" childclass="ur5e" pos="0 0 0">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
+      <geom type="cylinder" size="0.075 0.025" pos="0 0 0.025" rgba="0.033 0.033 0.033 1" />
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
+        <geom type="cylinder" size="0.06 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+        <geom type="capsule" size="0.06 0.06" pos="0 0 -0.04" group="3" />
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
+          <joint name="shoulder_lift_joint" class="size3" />
+          <geom type="cylinder" size="0.06 0.06" pos="0 0 0" rgba="0.278 0.278 0.278 1" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+          <geom type="capsule" size="0.06 0.06" pos="0 -0.04 0" quat="1 1 0 0" group="3" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" group="3" />
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
+            <joint name="elbow_joint" class="size3_limited" />
+            <geom type="cylinder" size="0.055 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+            <geom type="capsule" size="0.055 0.06" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" group="3" />
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
+              <joint name="wrist_1_joint" class="size1" />
+              <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+              <geom type="capsule" size="0.04 0.07" pos="0 0.05 0" quat="1 1 0 0" group="3" />
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+                <geom type="capsule" size="0.04 0.06" pos="0 0 0.04" group="3" />
+                <geom type="capsule" size="0.04 0.04" pos="0 0.02 0.1" quat="1 1 0 0" group="3" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom type="cylinder" size="0.04 0.005" pos="0 0.06 0" quat="1 1 0 0" rgba="0.82 0.82 0.82 1" />
+                  <geom type="cylinder" size="0.04 0.02" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="2f85">
+                    <geom type="cylinder" size="0.038 0.0035" pos="0 0 0.007" rgba="0.149 0.149 0.149 1" />
+                    <body name="gripper_base" pos="0 0 0.0108" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                      <geom type="box" size="0.03 0.025 0.025" pos="0 0 0.03" rgba="0.149 0.149 0.149 1" />
+                      <body name="gripper_center" pos="0 0 0.145">
+                        <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        <site name="gripper_center" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                      </body>
+                      <body name="right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="right_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="right_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="right_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="right_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1" />
+                            <geom class="pad_box2" name="right_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                      <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="left_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="left_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="left_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="left_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1" />
+                            <geom class="pad_box2" name="left_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <camera name="wrist" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="639 359" pos="-0.0144522749052 0.141198527444 0.0671541072895" quat="0.877682995657 0.478980311009 0.0127827082843 -0.00932862100412" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="640 360" pos="-1.34731578765 0.207841913068 0.868135985703" quat="0.5658505634 0.287041625612 -0.387192866112 -0.668955850186" />
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="gripper_base" body2="left_driver" />
+    <exclude body1="gripper_base" body2="right_driver" />
+    <exclude body1="gripper_base" body2="left_spring_link" />
+    <exclude body1="gripper_base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0" />
+  </keyframe>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-ur5/000017/temporal.json b/rc-table30-v1__rc-ur5/000017/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..58e575bff4ad3152687ac64d2691fadab122c10b
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000017/temporal.json
@@ -0,0 +1 @@
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-1.2322947978973389, -1.6839557886123657, 1.570791244506836, -0.5270717740058899, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.05163634195923805, -1.7697139978408813, -1.2721651792526245, -1.6705275774002075, 1.5707948207855225, -0.4577367901802063, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.03906959295272827, -1.7209244966506958, -1.3452858924865723, -1.6459327936172485, 1.5707948207855225, -0.3305385708808899, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.03282904997467995, -1.6971040964126587, -1.3810874223709106, -1.634130597114563, 1.5708448886871338, -0.26847726106643677, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.02122405916452408, -1.6523762941360474, -1.448424220085144, -1.6117550134658813, 1.5708067417144775, -0.15171509981155396, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.0185842402279377, -1.642304539680481, -1.463354229927063, -1.6065360307693481, 1.570810317993164, -0.1254017949104309, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.010978068225085735, -1.6130305528640747, -1.507627248764038, -1.5920006036758423, 1.5708222389221191, -0.048817459493875504, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.006048038136214018, -1.5941182374954224, -1.5358777046203613, -1.5824867486953735, 1.5708138942718506, 0.0002855801722034812, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.003094640327617526, -1.5828033685684204, -1.552809715270996, -1.5768495798110962, 1.570810317993164, 0.02985502779483795, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.001920146867632866, -1.57821524143219, -1.5595093965530396, -1.574489712715149, 1.570802092552185, 0.041704390197992325, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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]]}]}
diff --git a/rc-table30-v1__rc-ur5/000021/meta.json b/rc-table30-v1__rc-ur5/000021/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bdab9a3ae3870883fc7ba831002be7af946049b
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000021/meta.json
@@ -0,0 +1,83 @@
+{
+  "format_version": 8,
+  "prompt": "place the white paper on the shelf into the shredder for shredding",
+  "mjcf_path": "mjcf/ur5_2f85_no_mesh.xml",
+  "cameras": [
+    "global",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_pad",
+        "left_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "base",
+        "shoulder_link",
+        "upper_arm_link",
+        "forearm_link",
+        "wrist_1_link",
+        "wrist_2_link",
+        "wrist_3_link",
+        "base_mount",
+        "gripper_base",
+        "right_driver",
+        "right_coupler",
+        "right_spring_link",
+        "right_follower",
+        "right_pad",
+        "left_driver",
+        "left_coupler",
+        "left_spring_link",
+        "left_follower",
+        "left_pad"
+      ]
+    ],
+    "skip_bodies": []
+  },
+  "height": 720,
+  "width": 1280,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-ur5",
+    "source_repo_id": "rc-table30-v1/rc-ur5",
+    "episode_index": 2764,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "UR5"
+  }
+}
diff --git a/rc-table30-v1__rc-ur5/000021/mjcf/ur5_2f85_no_mesh.xml b/rc-table30-v1__rc-ur5/000021/mjcf/ur5_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..90e5dd0dbf74465c3a163429ffef8d9127e13bea
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000021/mjcf/ur5_2f85_no_mesh.xml
@@ -0,0 +1,187 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ur5e_2f85">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2" />
+    <body name="base" quat="1 0 0 0" childclass="ur5e" pos="0 0 0">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
+      <geom type="cylinder" size="0.075 0.025" pos="0 0 0.025" rgba="0.033 0.033 0.033 1" />
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
+        <geom type="cylinder" size="0.06 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+        <geom type="capsule" size="0.06 0.06" pos="0 0 -0.04" group="3" />
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
+          <joint name="shoulder_lift_joint" class="size3" />
+          <geom type="cylinder" size="0.06 0.06" pos="0 0 0" rgba="0.278 0.278 0.278 1" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+          <geom type="capsule" size="0.06 0.06" pos="0 -0.04 0" quat="1 1 0 0" group="3" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" group="3" />
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
+            <joint name="elbow_joint" class="size3_limited" />
+            <geom type="cylinder" size="0.055 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+            <geom type="capsule" size="0.055 0.06" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" group="3" />
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
+              <joint name="wrist_1_joint" class="size1" />
+              <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+              <geom type="capsule" size="0.04 0.07" pos="0 0.05 0" quat="1 1 0 0" group="3" />
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+                <geom type="capsule" size="0.04 0.06" pos="0 0 0.04" group="3" />
+                <geom type="capsule" size="0.04 0.04" pos="0 0.02 0.1" quat="1 1 0 0" group="3" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom type="cylinder" size="0.04 0.005" pos="0 0.06 0" quat="1 1 0 0" rgba="0.82 0.82 0.82 1" />
+                  <geom type="cylinder" size="0.04 0.02" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="2f85">
+                    <geom type="cylinder" size="0.038 0.0035" pos="0 0 0.007" rgba="0.149 0.149 0.149 1" />
+                    <body name="gripper_base" pos="0 0 0.0108" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                      <geom type="box" size="0.03 0.025 0.025" pos="0 0 0.03" rgba="0.149 0.149 0.149 1" />
+                      <body name="gripper_center" pos="0 0 0.145">
+                        <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        <site name="gripper_center" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                      </body>
+                      <body name="right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="right_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="right_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="right_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="right_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1" />
+                            <geom class="pad_box2" name="right_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                      <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="left_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="left_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="left_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="left_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1" />
+                            <geom class="pad_box2" name="left_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <camera name="wrist" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="639 359" pos="-0.0144522791173 0.141198562312 0.0671540796968" quat="0.87768300389 0.478980295901 0.0127827085091 -0.00932862175619" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="640 360" pos="-1.34731578765 0.207841913068 0.868135985703" quat="0.5658505634 0.287041625612 -0.387192866112 -0.668955850186" />
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="gripper_base" body2="left_driver" />
+    <exclude body1="gripper_base" body2="right_driver" />
+    <exclude body1="gripper_base" body2="left_spring_link" />
+    <exclude body1="gripper_base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0" />
+  </keyframe>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-ur5/000021/temporal.json b/rc-table30-v1__rc-ur5/000021/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..882ed0a1546bb98410b6e7454ed71fc41e22d4de
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000021/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [7.987022399902344e-06, -1.5708123445510864, -1.570787787437439, -1.570846676826477, 1.570778727531433, 0.061062343418598175, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-0.0003331343177706003, -1.5709105730056763, -1.5706874132156372, -1.570809006690979, 1.570802092552185, 0.060674481093883514, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-0.030650917440652847, -1.5787822008132935, -1.5627379417419434, -1.570797085762024, 1.5707217454910278, 0.03058122843503952, 0.009411775364595344, 0.0, 0.009411775364595344, 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diff --git a/rc-table30-v1__rc-ur5/000027/mjcf/ur5_2f85_no_mesh.xml b/rc-table30-v1__rc-ur5/000027/mjcf/ur5_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..688b12d7c660ffb66a87ea353147fb9048d09580
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000027/mjcf/ur5_2f85_no_mesh.xml
@@ -0,0 +1,187 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ur5e_2f85">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2" />
+    <body name="base" quat="1 0 0 0" childclass="ur5e" pos="0 0 0">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
+      <geom type="cylinder" size="0.075 0.025" pos="0 0 0.025" rgba="0.033 0.033 0.033 1" />
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
+        <geom type="cylinder" size="0.06 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+        <geom type="capsule" size="0.06 0.06" pos="0 0 -0.04" group="3" />
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
+          <joint name="shoulder_lift_joint" class="size3" />
+          <geom type="cylinder" size="0.06 0.06" pos="0 0 0" rgba="0.278 0.278 0.278 1" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+          <geom type="capsule" size="0.06 0.06" pos="0 -0.04 0" quat="1 1 0 0" group="3" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" group="3" />
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
+            <joint name="elbow_joint" class="size3_limited" />
+            <geom type="cylinder" size="0.055 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+            <geom type="capsule" size="0.055 0.06" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" group="3" />
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
+              <joint name="wrist_1_joint" class="size1" />
+              <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+              <geom type="capsule" size="0.04 0.07" pos="0 0.05 0" quat="1 1 0 0" group="3" />
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+                <geom type="capsule" size="0.04 0.06" pos="0 0 0.04" group="3" />
+                <geom type="capsule" size="0.04 0.04" pos="0 0.02 0.1" quat="1 1 0 0" group="3" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom type="cylinder" size="0.04 0.005" pos="0 0.06 0" quat="1 1 0 0" rgba="0.82 0.82 0.82 1" />
+                  <geom type="cylinder" size="0.04 0.02" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="2f85">
+                    <geom type="cylinder" size="0.038 0.0035" pos="0 0 0.007" rgba="0.149 0.149 0.149 1" />
+                    <body name="gripper_base" pos="0 0 0.0108" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                      <geom type="box" size="0.03 0.025 0.025" pos="0 0 0.03" rgba="0.149 0.149 0.149 1" />
+                      <body name="gripper_center" pos="0 0 0.145">
+                        <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        <site name="gripper_center" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                      </body>
+                      <body name="right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="right_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="right_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="right_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="right_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1" />
+                            <geom class="pad_box2" name="right_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                      <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="left_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="left_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="left_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="left_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1" />
+                            <geom class="pad_box2" name="left_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <camera name="wrist" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="639 359" pos="-0.0144522780041 0.141198547678 0.0671540740498" quat="0.87768299603 0.478980310358 0.0127827078912 -0.00932861983428" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="1280 720" sensorsize="1280 720" focal="819.082214355 819.08215332" principal="640 360" pos="-1.34731578765 0.207841913068 0.868135985703" quat="0.5658505634 0.287041625612 -0.387192866112 -0.668955850186" />
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="gripper_base" body2="left_driver" />
+    <exclude body1="gripper_base" body2="right_driver" />
+    <exclude body1="gripper_base" body2="left_spring_link" />
+    <exclude body1="gripper_base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0" />
+  </keyframe>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-ur5/000036/meta.json b/rc-table30-v1__rc-ur5/000036/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf57de89e793cd699887285da8a3efce257ba75b
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000036/meta.json
@@ -0,0 +1,83 @@
+{
+  "format_version": 8,
+  "prompt": "place the three plates onto the plate rack one by one",
+  "mjcf_path": "mjcf/ur5_2f85_no_mesh.xml",
+  "cameras": [
+    "global",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_pad",
+        "left_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "base",
+        "shoulder_link",
+        "upper_arm_link",
+        "forearm_link",
+        "wrist_1_link",
+        "wrist_2_link",
+        "wrist_3_link",
+        "base_mount",
+        "gripper_base",
+        "right_driver",
+        "right_coupler",
+        "right_spring_link",
+        "right_follower",
+        "right_pad",
+        "left_driver",
+        "left_coupler",
+        "left_spring_link",
+        "left_follower",
+        "left_pad"
+      ]
+    ],
+    "skip_bodies": []
+  },
+  "height": 720,
+  "width": 1280,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-ur5",
+    "source_repo_id": "rc-table30-v1/rc-ur5",
+    "episode_index": 1792,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "UR5"
+  }
+}
diff --git a/rc-table30-v1__rc-ur5/000036/mjcf/ur5_2f85_no_mesh.xml b/rc-table30-v1__rc-ur5/000036/mjcf/ur5_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e636f0e7fb731362b42dc2d0cb64037d796522a0
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000036/mjcf/ur5_2f85_no_mesh.xml
@@ -0,0 +1,187 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ur5e_2f85">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2" />
+    <body name="base" quat="1 0 0 0" childclass="ur5e" pos="0 0 0">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
+      <geom type="cylinder" size="0.075 0.025" pos="0 0 0.025" rgba="0.033 0.033 0.033 1" />
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
+        <geom type="cylinder" size="0.06 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+        <geom type="capsule" size="0.06 0.06" pos="0 0 -0.04" group="3" />
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
+          <joint name="shoulder_lift_joint" class="size3" />
+          <geom type="cylinder" size="0.06 0.06" pos="0 0 0" rgba="0.278 0.278 0.278 1" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+          <geom type="capsule" size="0.06 0.06" pos="0 -0.04 0" quat="1 1 0 0" group="3" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" group="3" />
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
+            <joint name="elbow_joint" class="size3_limited" />
+            <geom type="cylinder" size="0.055 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+            <geom type="capsule" size="0.055 0.06" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" group="3" />
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
+              <joint name="wrist_1_joint" class="size1" />
+              <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+              <geom type="capsule" size="0.04 0.07" pos="0 0.05 0" quat="1 1 0 0" group="3" />
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+                <geom type="capsule" size="0.04 0.06" pos="0 0 0.04" group="3" />
+                <geom type="capsule" size="0.04 0.04" pos="0 0.02 0.1" quat="1 1 0 0" group="3" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom type="cylinder" size="0.04 0.005" pos="0 0.06 0" quat="1 1 0 0" rgba="0.82 0.82 0.82 1" />
+                  <geom type="cylinder" size="0.04 0.02" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="2f85">
+                    <geom type="cylinder" size="0.038 0.0035" pos="0 0 0.007" rgba="0.149 0.149 0.149 1" />
+                    <body name="gripper_base" pos="0 0 0.0108" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                      <geom type="box" size="0.03 0.025 0.025" pos="0 0 0.03" rgba="0.149 0.149 0.149 1" />
+                      <body name="gripper_center" pos="0 0 0.145">
+                        <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        <site name="gripper_center" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                      </body>
+                      <body name="right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="right_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="right_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="right_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="right_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1" />
+                            <geom class="pad_box2" name="right_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                      <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="left_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="left_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="left_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="left_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1" />
+                            <geom class="pad_box2" name="left_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <camera name="wrist" resolution="1280 720" sensorsize="1280 720" focal="637.498901367 637.498901367" principal="639 359" pos="-0.0144522796246 0.141198517202 0.0671541083331" quat="0.877682995988 0.478980310384 0.0127827089853 -0.00932862094279" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="1280 720" sensorsize="1280 720" focal="637.498901367 637.498901367" principal="640 360" pos="-1.16663044588 0.137814518102 0.919138759607" quat="0.579314446927 0.270168247701 -0.311931686338 -0.702924258063" />
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="gripper_base" body2="left_driver" />
+    <exclude body1="gripper_base" body2="right_driver" />
+    <exclude body1="gripper_base" body2="left_spring_link" />
+    <exclude body1="gripper_base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0" />
+  </keyframe>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-ur5/000036/temporal.json b/rc-table30-v1__rc-ur5/000036/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..5151fa8939dfcfcec9fe9f1924d1344f7a6c1ff7
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000036/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-3.558794196578674e-05, -1.5708202123641968, -1.5707539319992065, -1.5708564519882202, 1.5707600116729736, 0.061042774468660355, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-1.1746083146135788e-05, -1.5708321332931519, -1.570705771446228, -1.5708683729171753, 1.5707839727401733, 0.061042774468660355, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-3.558794196578674e-05, -1.5708082914352417, -1.570705771446228, -1.5708445310592651, 1.5707600116729736, 0.06107872724533081, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.0023253140971064568, -1.5967754125595093, -1.5462645292282104, -1.5708564519882202, 1.5706762075424194, 0.06329356133937836, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.004925891291350126, -1.6254056692123413, -1.515478491783142, -1.571191668510437, 1.5707241296768188, 0.06599974632263184, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.007274799048900604, -1.6519855260849, -1.4870675802230835, -1.572006106376648, 1.570568323135376, 0.06839434802532196, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.012080473825335503, -1.712318778038025, -1.4217418432235718, -1.577743411064148, 1.5707241296768188, 0.07339926064014435, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.01332683302462101, -1.728092074394226, -1.4044841527938843, -1.579971194267273, 1.5706881284713745, 0.0745006874203682, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.016742337495088577, -1.7674349546432495, -1.3604949712753296, -1.5863794088363647, 1.5708318948745728, 0.07746977359056473, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.016382809728384018, -1.7657679319381714, -1.3604587316513062, -1.5858887434005737, 1.5708318948745728, 0.07725443691015244, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.025502806529402733, -1.7651437520980835, -1.3615626096725464, -1.585936427116394, 1.5708439350128174, 0.08642573654651642, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.0628572627902031, -1.7616299390792847, -1.3655685186386108, -1.5852898359298706, 1.570736050605774, 0.12414009869098663, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [0.08373265713453293, -1.7603219747543335, -1.3673070669174194, -1.5849779844284058, 1.5707839727401733, 0.14507953822612762, 0.009411775364595344, 0.0, 0.009411775364595344, 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0.0, 1.0]]}, {"state": [-4.798570807906799e-05, -1.5708202123641968, -1.5707896947860718, -1.5707963705062866, 1.5707720518112183, 0.061114680022001266, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-8.374849130632356e-05, -1.5708564519882202, -1.5707658529281616, -1.5707725286483765, 1.5707839727401733, 0.06106674298644066, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-4.798570807906799e-05, -1.5707963705062866, -1.5707420110702515, -1.5707963705062866, 1.5707720518112183, 0.06109071150422096, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-5.9906637034146115e-05, -1.5708082914352417, -1.5707658529281616, -1.5708082914352417, 1.5707600116729736, 0.06109071150422096, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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]]}]}
diff --git a/rc-table30-v1__rc-ur5/000042/meta.json b/rc-table30-v1__rc-ur5/000042/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c784fff90dd76a81665b9c2fbf0cc3b0081c2cd
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000042/meta.json
@@ -0,0 +1,83 @@
+{
+  "format_version": 8,
+  "prompt": "place the three plates onto the plate rack one by one",
+  "mjcf_path": "mjcf/ur5_2f85_no_mesh.xml",
+  "cameras": [
+    "global",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_pad",
+        "left_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "base",
+        "shoulder_link",
+        "upper_arm_link",
+        "forearm_link",
+        "wrist_1_link",
+        "wrist_2_link",
+        "wrist_3_link",
+        "base_mount",
+        "gripper_base",
+        "right_driver",
+        "right_coupler",
+        "right_spring_link",
+        "right_follower",
+        "right_pad",
+        "left_driver",
+        "left_coupler",
+        "left_spring_link",
+        "left_follower",
+        "left_pad"
+      ]
+    ],
+    "skip_bodies": []
+  },
+  "height": 720,
+  "width": 1280,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-ur5",
+    "source_repo_id": "rc-table30-v1/rc-ur5",
+    "episode_index": 2118,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "UR5"
+  }
+}
diff --git a/rc-table30-v1__rc-ur5/000042/mjcf/ur5_2f85_no_mesh.xml b/rc-table30-v1__rc-ur5/000042/mjcf/ur5_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b34a9d9980706c15fd6cc0a4c7d9723f8cdba15e
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000042/mjcf/ur5_2f85_no_mesh.xml
@@ -0,0 +1,187 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ur5e_2f85">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2" />
+    <body name="base" quat="1 0 0 0" childclass="ur5e" pos="0 0 0">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
+      <geom type="cylinder" size="0.075 0.025" pos="0 0 0.025" rgba="0.033 0.033 0.033 1" />
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
+        <geom type="cylinder" size="0.06 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+        <geom type="capsule" size="0.06 0.06" pos="0 0 -0.04" group="3" />
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
+          <joint name="shoulder_lift_joint" class="size3" />
+          <geom type="cylinder" size="0.06 0.06" pos="0 0 0" rgba="0.278 0.278 0.278 1" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+          <geom type="capsule" size="0.06 0.06" pos="0 -0.04 0" quat="1 1 0 0" group="3" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" group="3" />
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
+            <joint name="elbow_joint" class="size3_limited" />
+            <geom type="cylinder" size="0.055 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+            <geom type="capsule" size="0.055 0.06" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" group="3" />
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
+              <joint name="wrist_1_joint" class="size1" />
+              <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+              <geom type="capsule" size="0.04 0.07" pos="0 0.05 0" quat="1 1 0 0" group="3" />
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+                <geom type="capsule" size="0.04 0.06" pos="0 0 0.04" group="3" />
+                <geom type="capsule" size="0.04 0.04" pos="0 0.02 0.1" quat="1 1 0 0" group="3" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom type="cylinder" size="0.04 0.005" pos="0 0.06 0" quat="1 1 0 0" rgba="0.82 0.82 0.82 1" />
+                  <geom type="cylinder" size="0.04 0.02" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="2f85">
+                    <geom type="cylinder" size="0.038 0.0035" pos="0 0 0.007" rgba="0.149 0.149 0.149 1" />
+                    <body name="gripper_base" pos="0 0 0.0108" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                      <geom type="box" size="0.03 0.025 0.025" pos="0 0 0.03" rgba="0.149 0.149 0.149 1" />
+                      <body name="gripper_center" pos="0 0 0.145">
+                        <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        <site name="gripper_center" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                      </body>
+                      <body name="right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="right_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="right_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="right_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="right_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1" />
+                            <geom class="pad_box2" name="right_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                      <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="left_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="left_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="left_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="left_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1" />
+                            <geom class="pad_box2" name="left_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <camera name="wrist" resolution="1280 720" sensorsize="1280 720" focal="637.498901367 637.498901367" principal="639 359" pos="-0.0144522790496 0.141198509613 0.0671540845712" quat="0.877682993723 0.478980314564 0.0127827086175 -0.00932861999378" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="1280 720" sensorsize="1280 720" focal="637.498901367 637.498901367" principal="640 360" pos="-1.16663044588 0.137814518102 0.919138759607" quat="0.579314446927 0.270168247701 -0.311931686338 -0.702924258063" />
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="gripper_base" body2="left_driver" />
+    <exclude body1="gripper_base" body2="right_driver" />
+    <exclude body1="gripper_base" body2="left_spring_link" />
+    <exclude body1="gripper_base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0" />
+  </keyframe>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-ur5/000042/temporal.json b/rc-table30-v1__rc-ur5/000042/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..72cff17fc599fd2e6b806193423b7f43b6360bb6
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000042/temporal.json
@@ -0,0 +1 @@
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-1.5749996900558472, -1.5010970830917358, 1.5809979438781738, -0.017267052084207535, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-0.007429901976138353, -1.5729316473007202, -1.572337031364441, -1.5447086095809937, 1.5745365619659424, 0.0313960500061512, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-0.004445855040103197, -1.5720676183700562, -1.5717376470565796, -1.5549496412277222, 1.5730258226394653, 0.043633442372083664, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-0.0004666487220674753, -1.5710123777389526, -1.5710300207138062, -1.569191336631775, 1.5710716247558594, 0.059354495257139206, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-4.798570807906799e-05, -1.5709527730941772, -1.5709460973739624, -1.570952296257019, 1.5709997415542603, 0.06124650686979294, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-1.1746083146135788e-05, -1.5708926916122437, -1.5708621740341187, -1.5708202123641968, 1.5709038972854614, 0.06093491613864899, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-4.798570807906799e-05, -1.5709284543991089, -1.5708378553390503, -1.5708082914352417, 1.5709158182144165, 0.060922931879758835, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-1.1746083146135788e-05, -1.5708564519882202, -1.5708378553390503, -1.5708321332931519, 1.570855975151062, 0.06093491613864899, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-2.3667013010708615e-05, -1.5708688497543335, -1.5708259344100952, -1.5708082914352417, 1.5707720518112183, 0.060922931879758835, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-5.9906637034146115e-05, -1.5707963705062866, -1.5707896947860718, -1.5708445310592651, 1.5706881284713745, 0.06097086891531944, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-5.9906637034146115e-05, -1.5708445310592651, -1.5708378553390503, -1.5708202123641968, 1.5706762075424194, 0.06091094762086868, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-5.9906637034146115e-05, -1.5708688497543335, -1.5708140134811401, -1.5708082914352417, 1.5706641674041748, 0.06099483743309975, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-5.9906637034146115e-05, -1.5708564519882202, -1.5708140134811401, -1.5708082914352417, 1.570867896080017, 0.06099483743309975, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-4.798570807906799e-05, -1.5708202123641968, -1.5707777738571167, -1.5708202123641968, 1.570867896080017, 0.06101880595088005, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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]]}]}
diff --git a/rc-table30-v1__rc-ur5/000046/meta.json b/rc-table30-v1__rc-ur5/000046/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cad6eaa0458392c2f506da749b54ded3729f5163
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000046/meta.json
@@ -0,0 +1,83 @@
+{
+  "format_version": 8,
+  "prompt": "place the three plates onto the plate rack one by one",
+  "mjcf_path": "mjcf/ur5_2f85_no_mesh.xml",
+  "cameras": [
+    "global",
+    "wrist"
+  ],
+  "end_effectors": [
+    {
+      "object_type": "site",
+      "object_name": "gripper_center",
+      "radius_mode": "pad_pair",
+      "pad_bodies": [
+        "right_pad",
+        "left_pad"
+      ],
+      "sh_correction": [
+        [
+          0.0,
+          0.0,
+          -1.0
+        ],
+        [
+          -1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          1.0,
+          0.0
+        ]
+      ]
+    }
+  ],
+  "skeleton": {
+    "mode": "chains",
+    "chains": [
+      [
+        "base",
+        "shoulder_link",
+        "upper_arm_link",
+        "forearm_link",
+        "wrist_1_link",
+        "wrist_2_link",
+        "wrist_3_link",
+        "base_mount",
+        "gripper_base",
+        "right_driver",
+        "right_coupler",
+        "right_spring_link",
+        "right_follower",
+        "right_pad",
+        "left_driver",
+        "left_coupler",
+        "left_spring_link",
+        "left_follower",
+        "left_pad"
+      ]
+    ],
+    "skip_bodies": []
+  },
+  "height": 720,
+  "width": 1280,
+  "fps": 10.0,
+  "ref_cam_images": {
+    "global": "ref_images/global.png",
+    "wrist": "ref_images/wrist.png"
+  },
+  "gt_videos": {
+    "global": "gt/global.mp4",
+    "wrist": "gt/wrist.mp4"
+  },
+  "migrated_from": {
+    "repo_id": "rc-table30-v1/rc-ur5",
+    "source_repo_id": "rc-table30-v1/rc-ur5",
+    "episode_index": 1723,
+    "start_frame": 0,
+    "source_fps": 30.0,
+    "robot_type": "UR5"
+  }
+}
diff --git a/rc-table30-v1__rc-ur5/000046/mjcf/ur5_2f85_no_mesh.xml b/rc-table30-v1__rc-ur5/000046/mjcf/ur5_2f85_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0284875df3e28cb56f52459d4078a45e06164385
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000046/mjcf/ur5_2f85_no_mesh.xml
@@ -0,0 +1,187 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="ur5e_2f85">
+  <compiler angle="radian" autolimits="true" />
+  <option integrator="implicitfast" cone="elliptic" impratio="10" />
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" />
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150" />
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415" />
+          <general ctrlrange="-3.1415 3.1415" />
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28" />
+      </default>
+    </default>
+    <default class="2f85">
+      <general biastype="affine" />
+      <joint axis="1 0 0" />
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125" />
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
+      </default>
+      <default class="pad_box1">
+        <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1" />
+      </default>
+      <default class="pad_box2">
+        <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1" />
+      </default>
+    </default>
+  </default>
+  <worldbody>
+    <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2" />
+    <body name="base" quat="1 0 0 0" childclass="ur5e" pos="0 0 0">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
+      <geom type="cylinder" size="0.075 0.025" pos="0 0 0.025" rgba="0.033 0.033 0.033 1" />
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1" />
+        <geom type="cylinder" size="0.06 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+        <geom type="capsule" size="0.06 0.06" pos="0 0 -0.04" group="3" />
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
+          <joint name="shoulder_lift_joint" class="size3" />
+          <geom type="cylinder" size="0.06 0.06" pos="0 0 0" rgba="0.278 0.278 0.278 1" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+          <geom type="capsule" size="0.06 0.06" pos="0 -0.04 0" quat="1 1 0 0" group="3" />
+          <geom type="capsule" size="0.05 0.2" pos="0 0 0.2" group="3" />
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
+            <joint name="elbow_joint" class="size3_limited" />
+            <geom type="cylinder" size="0.055 0.04" pos="0 0 0" rgba="0.49 0.678 0.8 1" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" rgba="0.82 0.82 0.82 1" />
+            <geom type="capsule" size="0.055 0.06" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+            <geom type="capsule" size="0.038 0.19" pos="0 0 0.2" group="3" />
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
+              <joint name="wrist_1_joint" class="size1" />
+              <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+              <geom type="capsule" size="0.04 0.07" pos="0 0.05 0" quat="1 1 0 0" group="3" />
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1" />
+                <geom type="cylinder" size="0.04 0.035" pos="0 0 0" rgba="0.033 0.033 0.033 1" />
+                <geom type="capsule" size="0.04 0.06" pos="0 0 0.04" group="3" />
+                <geom type="capsule" size="0.04 0.04" pos="0 0.02 0.1" quat="1 1 0 0" group="3" />
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
+                  <joint name="wrist_3_joint" class="size1" />
+                  <geom type="cylinder" size="0.04 0.005" pos="0 0.06 0" quat="1 1 0 0" rgba="0.82 0.82 0.82 1" />
+                  <geom type="cylinder" size="0.04 0.02" pos="0 0.08 0" quat="1 1 0 0" group="3" />
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
+                  <body name="base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="2f85">
+                    <geom type="cylinder" size="0.038 0.0035" pos="0 0 0.007" rgba="0.149 0.149 0.149 1" />
+                    <body name="gripper_base" pos="0 0 0.0108" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708" />
+                      <geom type="box" size="0.03 0.025 0.025" pos="0 0 0.03" rgba="0.149 0.149 0.149 1" />
+                      <body name="gripper_center" pos="0 0 0.145">
+                        <site name="pinch" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                        <site name="gripper_center" pos="0 0 0" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005" />
+                      </body>
+                      <body name="right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="right_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="right_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="right_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="right_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1" />
+                            <geom class="pad_box2" name="right_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                      <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07" />
+                        <joint name="left_driver_joint" class="driver" />
+                        <geom type="box" size="0.008 0.018 0.005" pos="0 0.018 0.001" rgba="0.4627 0.4627 0.4627 1" />
+                        <body name="left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07" />
+                          <joint name="left_coupler_joint" class="coupler" />
+                          <geom type="box" size="0.006 0.008 0.02" pos="0 0.003 0.023" rgba="0.149 0.149 0.149 1" />
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06" />
+                        <joint name="left_spring_link_joint" class="spring_link" />
+                        <geom type="box" size="0.008 0.02 0.025" pos="0 0.018 0.021" rgba="0.149 0.149 0.149 1" />
+                        <body name="left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07" />
+                          <joint name="left_follower_joint" class="follower" />
+                          <geom type="box" size="0.008 0.012 0.015" pos="0 -0.011 0.012" rgba="0.149 0.149 0.149 1" />
+                          <body name="left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1" />
+                            <geom class="pad_box2" name="left_pad2" />
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
+                            <geom type="box" size="0.011 0.004 0.019" pos="0 -0.003 0.019" rgba="0.1882 0.1882 0.1882 1" />
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                  <camera name="wrist" resolution="1280 720" sensorsize="1280 720" focal="637.498901367 637.498901367" principal="639 359" pos="-0.0144522782266 0.141198535282 0.0671541023156" quat="0.877682999027 0.478980304836 0.0127827084101 -0.00932862068706" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <camera name="global" resolution="1280 720" sensorsize="1280 720" focal="637.498901367 637.498901367" principal="640 360" pos="-1.16663044588 0.137814518102 0.919138759607" quat="0.579314446927 0.270168247701 -0.311931686338 -0.702924258063" />
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="gripper_base" body2="left_driver" />
+    <exclude body1="gripper_base" body2="right_driver" />
+    <exclude body1="gripper_base" body2="left_spring_link" />
+    <exclude body1="gripper_base" body2="right_spring_link" />
+    <exclude body1="right_coupler" body2="right_follower" />
+    <exclude body1="left_coupler" body2="left_follower" />
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5" />
+      <joint joint="left_driver_joint" coef="0.5" />
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
+  </equality>
+  <actuator>
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint" />
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint" />
+    <general class="size3_limited" name="elbow" joint="elbow_joint" />
+    <general class="size1" name="wrist_1" joint="wrist_1_joint" />
+    <general class="size1" name="wrist_2" joint="wrist_2_joint" />
+    <general class="size1" name="wrist_3" joint="wrist_3_joint" />
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
+  </actuator>
+  <keyframe>
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0" ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0" />
+  </keyframe>
+</mujoco>
\ No newline at end of file
diff --git a/rc-table30-v1__rc-ur5/000046/temporal.json b/rc-table30-v1__rc-ur5/000046/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..814e23987b2f7399fe7afd8da2720c6b34cd45f3
--- /dev/null
+++ b/rc-table30-v1__rc-ur5/000046/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-4.798570807906799e-05, -1.5707839727401733, -1.5707181692123413, -1.5707601308822632, 1.570796012878418, 0.06109071150422096, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-3.558794196578674e-05, -1.5708202123641968, -1.5707300901412964, -1.570748209953308, 1.570807933807373, 0.061114680022001266, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911, 0.009411775364595344, 0.0, 0.009411775364595344, -0.009072951451469911], "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": [-3.558794196578674e-05, -1.5707839727401733, -1.5707539319992065, -1.570748209953308, 1.5707720518112183, 0.06106674298644066, 0.009411775364595344, 0.0, 0.009411775364595344, 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